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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d6c2a35b05d0729c4e5349a44423360f6dc8af1c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,97 @@
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..23335029f6802bf908fd0ef62b2f20dbb0e377c0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/resolved_config.yaml
@@ -0,0 +1,318 @@
+name: lab3_heat_2beaker_s06_polplr_htc_00042
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker b from home. Pour beaker b into beaker a and
+    return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker
+    a on the heater platform. Press the heater button to start heating.
+  layout_id: layout_00042
+  reproducibility:
+    enabled: true
+    layout_id: layout_00042
+    action_seed: 4252118656959509958
+    step_seeds:
+    - 3319501461492575968
+    - 946050603527827413
+    - 3071531141632112857
+    - 9008182816210822962
+    - 3857288806585659842
+    - 6629719022278410558
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.1661
+      - 0.1661
+      'y':
+      - 0.3045
+      - 0.3045
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.3122
+      - 0.3122
+      'y':
+      - 0.0079
+      - 0.0079
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.344
+      - 0.344
+      'y':
+      - 0.1623
+      - 0.1623
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2754
+      - 0.2754
+      'y':
+      - -0.3084
+      - -0.3084
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.25
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: false
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      hold_grasp_pose_until_close: false
+  - skill: pour
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.006
+      - 0.002
+      - 0.012
+      - 0.01
+      - 0.009
+      - 0.01
+      pour_speed: -1.5
+      source_name: beaker
+      approach_xy_threshold: 0.08
+      tilt_position_threshold: 0.04
+      height_range_1:
+      - 0.3
+      - 0.4
+      height_range_2:
+      - 0.2
+      - 0.2
+      position_only: false
+      tilt_strategy: wrist_velocity
+      position_threshold: 0.015
+      post_return_recenter: true
+      lock_target_position: true
+      held_gripper_distances: 0.019
+  - skill: place
+    target_object: beaker_b
+    target_key: beaker_b_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+  gripper_contact_profile: pour_torsional
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..07c844d667fcc38d557def12a950c95d4cd823c0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_0_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.34029876276031984,
+              0.014251147501656373,
+              0.9986143137434703
+            ],
+            "current_z": 0.9986143137434703,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.1420279255441943,
+            "gripper_z": 0.9989421824449555,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.335753337512099,
+              0.009618900448606763,
+              0.9989421824449555
+            ],
+            "object_minus_gripper": [
+              0.004545425248220825,
+              0.004632247053049611,
+              -0.0003278687014851567
+            ],
+            "object_to_gripper_xy": 0.006489884702184635,
+            "object_to_gripper_z": -0.0003278687014851567,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34029876276031984,
+              -0.00977009680192804,
+              0.9986143137434703
+            ],
+            "finger_b": [
+              0.3287352164487319,
+              0.014251147501656373,
+              0.9986143137434703
+            ],
+            "finger_midpoint": [
+              0.33451698960452586,
+              0.0022405253498641664,
+              0.9986143137434703
+            ],
+            "object_minus_finger_midpoint": [
+              0.005781773155793979,
+              0.012010622151792206,
+              0.0
+            ],
+            "finger_gap": 0.026659628301848582,
+            "fingertip_max_gap": 0.09206495317212518,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013329814150924291,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9986143137434703,
+            "object_top_z": 1.0440654102841675,
+            "finger_top_clearance": 0.04545109654069723,
+            "fingertip_min_top_clearance": 0.01363532896220917,
+            "object_projection_between_fingers": 0.8118631327722889,
+            "object_to_finger_line_xy": 0.010419153928984322,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04853247658606259,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9958565275379123,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18186610690339086,
+              0.30222559712463265,
+              0.7611063241960634
+            ],
+            "gripper_position": [
+              0.18758719505145713,
+              0.2710301302217785,
+              1.036778139497079
+            ],
+            "target_minus_gripper": [
+              -0.005721088148066267,
+              0.03119546690285413,
+              -0.2756718153010156
+            ],
+            "held_position": [
+              0.19236324827003531,
+              0.27540322704331865,
+              1.0362308838183194
+            ],
+            "held_minus_target": [
+              0.010497141366644452,
+              -0.026822370081313995,
+              0.275124559622256
+            ],
+            "held_minus_gripper": [
+              0.004776053218578186,
+              0.0043730968215401345,
+              -0.0005472556787595728
+            ],
+            "xy_dist": 0.03171573749552439,
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+            "held_gripper_dist": 0.006498780572937517,
+            "max_held_gripper_dist": 0.0065022464355686226,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7611063241960634,
+            "held_z": 1.0362308838183194,
+            "required_height": 0.7911063241960634,
+            "gripper_z": 1.036778139497079,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.35816479900136,
+            "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": 1.2642184945933626,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.3136938883257585,
+            "max_source_tilt_deg": 89.96473448518086,
+            "source_upright_tilt_deg": 2.373329231466347,
+            "max_source_upright_tilt_deg": 89.78557685018585,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 3.3136938883257585,
+            "source_upright_return_tilt_deg": 2.373329231466347,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.899689498977135e-07,
+            "max_target_xy_drift": 2.2875931925027874e-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": 0.05595290387262624,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.00011010370339172923,
+            "max_target_tilt_deg": 0.0003091474171657639,
+            "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_a",
+              "raw_target_position": [
+                0.1819,
+                0.3022,
+                0.7611
+              ],
+              "controller_target_position": [
+                0.1819,
+                0.3022,
+                0.7611
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0018,
+                -0.0014,
+                -0.0019
+              ],
+              "controller_last_pour_pose_position": [
+                0.1801,
+                0.2749,
+                1.0251
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
+                0.0663,
+                0.0647,
+                0.0928
+              ],
+              "height_range_1": [
+                0.3,
+                0.4
+              ],
+              "height_range_2": [
+                0.2,
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+              "allowed_objects": [
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/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": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33421429506565004,
+              -0.30162373907505646,
+              0.851539613546491
+            ],
+            "target_position": [
+              0.3261138283438616,
+              -0.30357172360462314,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0083313987323998,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18228181900197582,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539613546491,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538701245859113,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08683536158461556,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1509712106485001,
+            "release_required_pad_clearance": 0.053417680792307784,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8498540822468912,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007636547088623047,
+            "max_z_decrease": 0.007636547088623047,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499506977536039,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007636547088623047,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02115829981724465,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007636547088623047,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007636964131218686,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1818137615919113,
+              -0.35983318090438837,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1818137615919113,
+              -0.35983318090438837,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18106566653889097,
+              -0.35932884666602954,
+              0.8072553860930953
+            ],
+            "closest_button": [
+              0.18188682198524475,
+              -0.3597630560398101,
+              0.7722726464271545
+            ],
+            "closest_ee_minus_button": [
+              -0.0008211554463537774,
+              0.0004342093737805808,
+              0.03498273966594079
+            ],
+            "button_min_z_position": [
+              0.18174357712268827,
+              -0.3598711788654327,
+              0.7691723108291626
+            ],
+            "min_active_finger_to_button": 0.14637615069753945,
+            "closest_active_finger": [
+              0.053690582513809204,
+              -0.42125192284584045,
+              0.8080284595489502
+            ],
+            "closest_active_finger_button": [
+              0.18184439837932587,
+              -0.3598546385765075,
+              0.7729150652885437
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12815381586551666,
+              -0.06139728426933294,
+              0.035113394260406494
+            ],
+            "min_contact_pad_to_button": 0.02115829981724465,
+            "closest_contact_pad": [
+              0.18174357712268827,
+              -0.3605541437151572,
+              0.79031958512564
+            ],
+            "closest_contact_pad_button": [
+              0.18174357712268827,
+              -0.3598711788654327,
+              0.7691723108291626
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006829648497245211,
+              0.021147274296477447
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7185e5b51455204a7cf2b3579a4da4483efa1e04033f26691d4c8d9d7bd4b761",
+    "visual_seed": 6366313881188075431,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..96b18431c11195508bb4bfe50410b5c7128c25b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_100_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076653361320495605,
+            "max_z_decrease": 0.0076653361320495605,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350491142646352,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076653361320495605,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021211230131486836,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0076653361320495605,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007665766019836697,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18084062635898585,
+              -0.36198663711547846,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18084062635898585,
+              -0.36198663711547846,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17907470598345537,
+              -0.36228313651660043,
+              0.8078670695624982
+            ],
+            "closest_button": [
+              0.18086902797222135,
+              -0.3620078861713409,
+              0.7728649973869324
+            ],
+            "closest_ee_minus_button": [
+              -0.0017943219887659734,
+              -0.00027525034525954784,
+              0.035002072175565835
+            ],
+            "button_min_z_position": [
+              0.1807754039764404,
+              -0.3620349764823913,
+              0.7691435217857361
+            ],
+            "min_active_finger_to_button": 0.1481057404839014,
+            "closest_active_finger": [
+              0.05078762769699097,
+              -0.42346593737602234,
+              0.8080366849899292
+            ],
+            "closest_active_finger_button": [
+              0.18086902797222135,
+              -0.3620078861713409,
+              0.7728649973869324
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.13008140027523038,
+              -0.06145805120468145,
+              0.035171687602996826
+            ],
+            "min_contact_pad_to_button": 0.021211230131486836,
+            "closest_contact_pad": [
+              0.1807754039764404,
+              -0.3640357048639018,
+              0.7902601827347193
+            ],
+            "closest_contact_pad_button": [
+              0.1807754039764404,
+              -0.3620349764823913,
+              0.7691435217857361
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002000728381510497,
+              0.021116660948983235
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e399701d867b16b406aba2c2fde6c211b25cb003b1f0d4028349c8ed039232f0",
+    "visual_seed": 4213210919771146803,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef5371572eabf326ae6a7faca4b6178b9804e978
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_102_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33606011273078756,
+              0.011963190119411276,
+              0.9974926110971366
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+            "current_z": 0.9974926110971366,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.14090610368857093,
+            "gripper_z": 0.9977301263487431,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.331490950123472,
+              0.007448482490962027,
+              0.9977301263487431
+            ],
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+              0.004569162607315547,
+              0.004514707628449249,
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+            "object_to_gripper_xy": 0.006423381656298219,
+            "object_to_gripper_z": -0.00023751525160653486,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33606011273078756,
+              -0.012256148204985988,
+              0.9974926110971366
+            ],
+            "finger_b": [
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+              0.011963190119411276,
+              0.9974926110971366
+            ],
+            "finger_midpoint": [
+              0.33047280250040656,
+              -0.00014647904278735583,
+              0.9974926110971366
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012109669162198633,
+              0.0
+            ],
+            "finger_gap": 0.026672991795329205,
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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": 1.0428909797547865,
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+            "object_to_finger_line_xy": 0.010146665048400018,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048892922626134636,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4595742902034274,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18156503755707354,
+              0.3089784737394758,
+              0.761106567619411
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+            "gripper_position": [
+              0.18814639737136554,
+              0.27875780479205403,
+              1.0394380711293978
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+            "target_minus_gripper": [
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+              0.030220668947421758,
+              -0.2783315035099868
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+            "held_position": [
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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": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 102,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8fe4807c90eea80c1fc00f3055f265b50530fb48ade2bd4dc5941f94d1cc75d5",
+    "visual_seed": 561867150509351393,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_103_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..957b2641b8db49f9b4b7bd5aa6996944f8c5b839
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_103_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.338461357663362,
+              0.009445057600291067,
+              0.9991774627955685
+            ],
+            "current_z": 0.9991774627955685,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14259095538700295,
+            "gripper_z": 0.9992674572146935,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.005009411518005671,
+              0.9992674572146935
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+              0.004435646082285395,
+              -8.999441912493911e-05
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+            "object_to_gripper_xy": 0.006177172311101183,
+            "object_to_gripper_z": -8.999441912493911e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.338461357663362,
+              -0.014487518184849196,
+              0.9991774627955685
+            ],
+            "finger_b": [
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+              0.009445057600291067,
+              0.9991774627955685
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+            "finger_midpoint": [
+              0.33287081458661655,
+              -0.002521230292279065,
+              0.9991774627955685
+            ],
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+              0.011966287892570131,
+              0.0
+            ],
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.010130075030281233,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049112871052071086,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18776125330586046,
+              0.3071508463190504,
+              0.7611064484101212
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+              0.27511314444825263,
+              1.0381976420746417
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+              0.0042092576555555206,
+              -0.00029984053155929224
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.33953204294555,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.98928638679412,
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+            "max_source_upright_tilt_deg": 89.91510701373866,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 3.370923125138398,
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+            "target_xy_drift": 3.332000937312528e-08,
+            "max_target_xy_drift": 1.0848209096909341e-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,
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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": 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_a",
+              "raw_target_position": [
+                0.1878,
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+                0.7611
+              ],
+              "controller_target_position": [
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+                0.3072,
+                0.7611
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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": {
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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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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_pour_target_offset": null,
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+            "pour_controller_controller_t": 0.0,
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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
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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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+                "gripper",
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+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/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": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33836275238071584,
+              -0.30796382767671776,
+              0.8515395990297762
+            ],
+            "target_position": [
+              0.33012115899079714,
+              -0.30945932512964663,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008376178975909502,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18388401077984612,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395990297762,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532469754319306,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08597633503557532,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15261229816646646,
+            "release_required_pad_clearance": 0.05298816751778766,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0102593552125738,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007780134677886963,
+            "max_z_decrease": 0.007780134677886963,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350423693593661,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007780134677886963,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02141110875956636,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007780134677886963,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007780596847312578,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18582108616828918,
+              -0.36572077870368946,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18582108616828918,
+              -0.36572077870368946,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18640841206462597,
+              -0.3675308717275655,
+              0.8065956235442968
+            ],
+            "closest_button": [
+              0.18588042259216309,
+              -0.3657016158103942,
+              0.7716050148010254
+            ],
+            "closest_ee_minus_button": [
+              0.0005279894724628809,
+              -0.001829255917171313,
+              0.03499060874327142
+            ],
+            "button_min_z_position": [
+              0.18573817610740662,
+              -0.3657386004924773,
+              0.7690287232398987
+            ],
+            "min_active_finger_to_button": 0.14531801600131594,
+            "closest_active_finger": [
+              0.045542046427726746,
+              -0.3518144488334656,
+              0.8081009387969971
+            ],
+            "closest_active_finger_button": [
+              0.18585096299648285,
+              -0.3657404482364654,
+              0.772932767868042
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1403089165687561,
+              0.013925999402999822,
+              0.03516817092895508
+            ],
+            "min_contact_pad_to_button": 0.02141110875956636,
+            "closest_contact_pad": [
+              0.18573817610740662,
+              -0.3686380674095034,
+              0.7902426024210162
+            ],
+            "closest_contact_pad_button": [
+              0.18573817610740662,
+              -0.3657386004924773,
+              0.7690287232398987
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028994669170260834,
+              0.0212138791811175
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "58063edd96c8b45e66bae6b5900d7abe996a13224348d488583f8cff44036b33",
+    "visual_seed": 5982867045716194648,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_104_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e7a2e41d86e2f3871beb48cc29e975c6dae4259
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_104_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3405077884790365,
+              0.008832298211504207,
+              0.9996040348729713
+            ],
+            "current_z": 0.9996040348729713,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.14301758706905054,
+            "gripper_z": 1.000280039364332,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3361856023555082,
+              0.004394877087079654,
+              1.000280039364332
+            ],
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+              0.004322186123528304,
+              0.004437421124424553,
+              -0.0006760044913607377
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+            "object_to_gripper_xy": 0.006194513630779247,
+            "object_to_gripper_z": -0.0006760044913607377,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3405077884790365,
+              -0.015111213529357502,
+              0.9996040348729713
+            ],
+            "finger_b": [
+              0.3293189968681666,
+              0.008832298211504207,
+              0.9996040348729713
+            ],
+            "finger_midpoint": [
+              0.33491339267360154,
+              -0.0031394576589266476,
+              0.9996040348729713
+            ],
+            "object_minus_finger_midpoint": [
+              0.005594395805434971,
+              0.011971755870430855,
+              0.0
+            ],
+            "finger_gap": 0.02642878756576349,
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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": 0.9996040348729713,
+            "object_top_z": 1.0449007949221751,
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+            "fingertip_min_top_clearance": 0.013589028014761155,
+            "object_projection_between_fingers": 0.8207695107359694,
+            "object_to_finger_line_xy": 0.010136634631244364,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04880845612755404,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4659460897361134,
+            "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_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_joint4",
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+                "gripper",
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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"
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+                },
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+                "Robotiq_2F_85",
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+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
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+            "max_z_decrease_with_ee_contact": 0.007343649864196777,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.02127128789018792,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007343649864196777,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00734428917450807,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1820542961359024,
+              -0.36687716841697693,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1820542961359024,
+              -0.36687716841697693,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1809908316030003,
+              -0.3661782399801184,
+              0.805637976345506
+            ],
+            "closest_button": [
+              0.1819729954004288,
+              -0.3669057786464691,
+              0.7706549763679504
+            ],
+            "closest_ee_minus_button": [
+              -0.0009821637974284925,
+              0.0007275386663507244,
+              0.03498299997755561
+            ],
+            "button_min_z_position": [
+              0.18195854127407077,
+              -0.36689203977584833,
+              0.7694652080535889
+            ],
+            "min_active_finger_to_button": 0.14657123134709438,
+            "closest_active_finger": [
+              0.053876593708992004,
+              -0.4287330210208893,
+              0.808146059513092
+            ],
+            "closest_active_finger_button": [
+              0.18208228051662445,
+              -0.3668879270553589,
+              0.7731944918632507
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12820568680763245,
+              -0.061845093965530396,
+              0.03495156764984131
+            ],
+            "min_contact_pad_to_button": 0.02127128789018792,
+            "closest_contact_pad": [
+              0.1819729954004288,
+              -0.3673950058615396,
+              0.7919206375436414
+            ],
+            "closest_contact_pad_button": [
+              0.1819729954004288,
+              -0.3669057786464691,
+              0.7706549763679504
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004892272150704979,
+              0.021265661175690953
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "975f7ce8fe1d27240e4269c1bcc90b8609fa49fc72193149d0c642af384e387d",
+    "visual_seed": 5872884847427979984,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_105_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4bd95e5429ccd099b03e021b8091f6ec78e3e3d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_105_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3325223136068724,
+              0.011706561200485419,
+              0.9978764348579356
+            ],
+            "current_z": 0.9978764348579356,
+            "required_z": 0.8565863881992761,
+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.14129004665865952,
+            "gripper_z": 0.9990688859229224,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32813104264495285,
+              0.007365538110986836,
+              0.9990688859229224
+            ],
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+              0.004391270961919547,
+              0.004341023089498583,
+              -0.001192451064986777
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+            "object_to_gripper_xy": 0.006174766564377769,
+            "object_to_gripper_z": -0.001192451064986777,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3325223136068724,
+              -0.01252433413519876,
+              0.9978764348579356
+            ],
+            "finger_b": [
+              0.3217996687359871,
+              0.011706561200485419,
+              0.9978764348579356
+            ],
+            "finger_midpoint": [
+              0.3271609911714297,
+              -0.0004088864673566705,
+              0.9978764348579356
+            ],
+            "object_minus_finger_midpoint": [
+              0.005361322435442684,
+              0.012115447667842089,
+              0.0
+            ],
+            "finger_gap": 0.02649738481050544,
+            "fingertip_max_gap": 0.09339747040870902,
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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": 0.9978764348579356,
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+            "object_projection_between_fingers": 0.8362437745163857,
+            "object_to_finger_line_xy": 0.009805469009346248,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04919873520435451,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.1426483236892153,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.3000451978014417,
+              0.7611065080147662
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+            "gripper_position": [
+              0.19823113857554717,
+              0.26822076206665085,
+              1.0397076613299927
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+            "target_minus_gripper": [
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+              0.031824435734790824,
+              -0.2786011533152265
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+              0.2724382339014039,
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+            "held_minus_target": [
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+              0.004217471834753073,
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+            "xy_dist": 0.03287240285722522,
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+            "max_held_gripper_dist": 0.006293526559598023,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.7911065080147662,
+            "gripper_z": 1.0397076613299927,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.39247283920233,
+            "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": 3.8185952248477504,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.8788108913584414,
+            "max_source_tilt_deg": 89.99181742100104,
+            "source_upright_tilt_deg": 3.3851827641002616,
+            "max_source_upright_tilt_deg": 89.54354197882019,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 2.8788108913584414,
+            "source_upright_return_tilt_deg": 3.3851827641002616,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.2146848510894035e-08,
+            "max_target_xy_drift": 6.809031759974875e-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_a",
+              "raw_target_position": [
+                0.19,
+                0.3,
+                0.7611
+              ],
+              "controller_target_position": [
+                0.19,
+                0.3,
+                0.7611
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "panda_leftfinger",
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+                "panda_rightfinger",
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+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+            },
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+            "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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33523468894747,
+              -0.3085311427800746,
+              0.8515395659280346
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+              0.3267655169999634,
+              -0.31019237170364916,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008630559368485507,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18484283966896856,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395659280346,
+            "min_z": 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_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.0623726109233078,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007371127605438232,
+            "max_z_decrease": 0.007371127605438232,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502960462249225,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007371127605438232,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021292977273705813,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007371127605438232,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073716515172385115,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18246544897556305,
+              -0.3664538264274596,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18246544897556305,
+              -0.3664538264274596,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18070009609333004,
+              -0.366874066996672,
+              0.8071320927716688
+            ],
+            "closest_button": [
+              0.18243131041526794,
+              -0.36645245552062977,
+              0.7721478343009949
+            ],
+            "closest_ee_minus_button": [
+              -0.0017312143219379017,
+              -0.0004216114760422496,
+              0.03498425847067388
+            ],
+            "button_min_z_position": [
+              0.18237784504890442,
+              -0.36646085977554316,
+              0.7694377303123474
+            ],
+            "min_active_finger_to_button": 0.1479020228522299,
+            "closest_active_finger": [
+              0.03959672152996063,
+              -0.35097354650497437,
+              0.8080330491065979
+            ],
+            "closest_active_finger_button": [
+              0.18248578906059265,
+              -0.3664635717868804,
+              0.77313631772995
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14288906753063202,
+              0.015490025281906017,
+              0.03489673137664795
+            ],
+            "min_contact_pad_to_button": 0.021292977273705813,
+            "closest_contact_pad": [
+              0.18237784504890442,
+              -0.36816392008128296,
+              0.7906624910123781
+            ],
+            "closest_contact_pad_button": [
+              0.18237784504890442,
+              -0.36646085977554316,
+              0.7694377303123474
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017030603057398008,
+              0.021224760700030654
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 105,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3fddf6bff7b2dedf41333aff513a7fb0b5b7267a0dc2ab81ed6f9854ae5be826",
+    "visual_seed": 7103132522012599101,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_107_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..959fb58afce7a3eaf68995c94691145e7e7a194c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_107_success.json
@@ -0,0 +1,1682 @@
+{
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+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+            "release_required_pad_clearance": 0.052573748015096025,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.21306234949610575,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 160,
+            "max_placed_release_frames": 160
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075133442878723145,
+            "max_z_decrease": 0.0075133442878723145,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035013202740667854,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075133442878723145,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.02111699958834776,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0075133442878723145,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007513779062224168,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18499733507633204,
+              -0.3634003400802612,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18499733507633204,
+              -0.3634003400802612,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18382689334569172,
+              -0.36319378549753034,
+              0.8096748385381157
+            ],
+            "closest_button": [
+              0.18499557673931116,
+              -0.3634088635444641,
+              0.774681806564331
+            ],
+            "closest_ee_minus_button": [
+              -0.0011686833936194463,
+              0.00021507804693376986,
+              0.03499303197378467
+            ],
+            "button_min_z_position": [
+              0.18493792414665217,
+              -0.36345514655113215,
+              0.7692955136299133
+            ],
+            "min_active_finger_to_button": 0.1468800681696977,
+            "closest_active_finger": [
+              0.05636007338762283,
+              -0.4248572289943695,
+              0.8085026144981384
+            ],
+            "closest_active_finger_button": [
+              0.18502442538738245,
+              -0.363418161869049,
+              0.7732254266738892
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12866435199975962,
+              -0.06143906712532049,
+              0.03527718782424927
+            ],
+            "min_contact_pad_to_button": 0.02111699958834776,
+            "closest_contact_pad": [
+              0.18493792414665217,
+              -0.36442927584825396,
+              0.7903900329116312
+            ],
+            "closest_contact_pad_button": [
+              0.18493792414665217,
+              -0.36345514655113215,
+              0.7692955136299133
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009741292971218174,
+              0.021094519281717905
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 107,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "587e6c14dbcd90091faa96ef2099185f86efd2688dba2b37ce6bfc72ddd28947",
+    "visual_seed": 1314675451716375156,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_108_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..922276b4f8f86ec2a7a16860c8d292e36991a579
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_108_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33960263985677197,
+              0.008210830590940736,
+              0.9984754421841437
+            ],
+            "current_z": 0.9984754421841437,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.14188905398486773,
+            "gripper_z": 0.9991989219903211,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33511878523155564,
+              0.003750414824837192,
+              0.9991989219903211
+            ],
+            "object_minus_gripper": [
+              0.0044838546252163325,
+              0.004460415766103544,
+              -0.000723479806177374
+            ],
+            "object_to_gripper_xy": 0.006324575962590611,
+            "object_to_gripper_z": -0.000723479806177374,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33960263985677197,
+              -0.01595844225685651,
+              0.9984754421841437
+            ],
+            "finger_b": [
+              0.32852723757706437,
+              0.008210830590940736,
+              0.9984754421841437
+            ],
+            "finger_midpoint": [
+              0.33406493871691817,
+              -0.0038738058329578877,
+              0.9984754421841437
+            ],
+            "object_minus_finger_midpoint": [
+              0.005537701139853801,
+              0.012084636423898624,
+              0.0
+            ],
+            "finger_gap": 0.026586054345250663,
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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": 0.9984754421841437,
+            "object_top_z": 1.0437469921759202,
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+            "fingertip_min_top_clearance": 0.013581464997532938,
+            "object_projection_between_fingers": 0.8264553448206458,
+            "object_to_finger_line_xy": 0.010068602738908784,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048612750883299236,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2321875550664583,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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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": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 108,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "63b959a816a75b3350bb9285dbbf600228efaa860efc1eca73d5baffbf3f8670",
+    "visual_seed": 5817480461622213048,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_109_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..373033334ebe86800ddf35ee58175f1e93b82062
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_109_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33782102685913173,
+              0.013167895949657317,
+              0.9994983956425785
+            ],
+            "current_z": 0.9994983956425785,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1429118882340129,
+            "gripper_z": 1.0002537186031413,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3331420442360046,
+              0.00854360465734362,
+              1.0002537186031413
+            ],
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+              0.004678982623127159,
+              0.004624291292313697,
+              -0.0007553229605627987
+            ],
+            "object_to_gripper_xy": 0.006578521744563454,
+            "object_to_gripper_z": -0.0007553229605627987,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.33782102685913173,
+              -0.011079831308923229,
+              0.9994983956425785
+            ],
+            "finger_b": [
+              0.3264332791491417,
+              0.013167895949657317,
+              0.9994983956425785
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+            "finger_midpoint": [
+              0.33212715300413675,
+              0.001044032320367044,
+              0.9994983956425785
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+              0.012123863629290273,
+              0.0
+            ],
+            "finger_gap": 0.026788674381404035,
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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": 0.010307602258700912,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04857419481853255,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.308435415820927,
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+              0.27868294980778463,
+              1.0375776837944999
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+              0.0045182671523984475,
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+            "max_held_gripper_dist": 0.006626408941794825,
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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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+            "uses_end_effector_tilt_evidence": false,
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+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 6.143906154658885e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "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": 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_a",
+              "raw_target_position": [
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+                0.3084,
+                0.7611
+              ],
+              "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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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                ],
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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,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_event": 6,
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+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/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": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3328272489098255,
+              -0.3026558730075556,
+              0.8515395644721776
+            ],
+            "target_position": [
+              0.3245700270405117,
+              -0.304114275314229,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008385025359960748,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18627205017328424,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395644721776,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536567806228461,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08714595981860017,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15468256017087445,
+            "release_required_pad_clearance": 0.053572979909300086,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.156942122470953,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 160,
+            "max_placed_release_frames": 160
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007543027400970459,
+            "max_z_decrease": 0.007543027400970459,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350131531949449,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007543027400970459,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02124841950127427,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007543027400970459,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007543570845291611,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.180269956588745,
+              -0.3603757321834564,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.180269956588745,
+              -0.3603757321834564,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18098808546538417,
+              -0.35953506757810266,
+              0.8093887818169331
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+            "closest_button": [
+              0.18025633692741383,
+              -0.360385924577713,
+              0.774393618106842
+            ],
+            "closest_ee_minus_button": [
+              0.0007317485379703392,
+              0.0008508569996103499,
+              0.03499516371009104
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+            "button_min_z_position": [
+              0.18018007278442372,
+              -0.3603866696357727,
+              0.7692658305168152
+            ],
+            "min_active_finger_to_button": 0.14498272948040145,
+            "closest_active_finger": [
+              0.05355373024940491,
+              -0.4213793873786926,
+              0.8080189824104309
+            ],
+            "closest_active_finger_button": [
+              0.18030174076557148,
+              -0.36039409041404724,
+              0.7728660702705383
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12674801051616658,
+              -0.060985296964645386,
+              0.03515291213989258
+            ],
+            "min_contact_pad_to_button": 0.02124841950127427,
+            "closest_contact_pad": [
+              0.18018007278442372,
+              -0.36073911041276013,
+              0.7905113269054819
+            ],
+            "closest_contact_pad_button": [
+              0.18018007278442372,
+              -0.3603866696357727,
+              0.7692658305168152
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00035244077698742826,
+              0.021245496388666685
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 109,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fdf69d5939a19b5bf5891608eeb4aae3b39d4d2bc2b6dfcf73b9f13816b125f3",
+    "visual_seed": 3540205584467811431,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b3360f7e15b072a66e73e956e850b14caaaf431
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_10_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3326298691107207,
+              0.010784522140317087,
+              0.9997455739053752
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+            "current_z": 0.9997455739053752,
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+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.1431591857060992,
+            "gripper_z": 1.0003153054554386,
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+            "gripper_position": [
+              0.32820069929998785,
+              0.006256342269866405,
+              1.0003153054554386
+            ],
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+              0.004429169810732825,
+              0.004528179870450682,
+              -0.000569731550063346
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+            "object_to_gripper_xy": 0.006334189620737747,
+            "object_to_gripper_z": -0.000569731550063346,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3326298691107207,
+              -0.013294635685781781,
+              0.9997455739053752
+            ],
+            "finger_b": [
+              0.3213888300517836,
+              0.010784522140317087,
+              0.9997455739053752
+            ],
+            "finger_midpoint": [
+              0.32700934958125216,
+              -0.001255056772732347,
+              0.9997455739053752
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+            "object_minus_finger_midpoint": [
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+              0.012039578913049433,
+              0.0
+            ],
+            "finger_gap": 0.026573799140106547,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9997455739053752,
+            "object_top_z": 1.0451840215046686,
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+            "object_projection_between_fingers": 0.8210607479814092,
+            "object_to_finger_line_xy": 0.01018577555291943,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048657476970244265,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007668256759643555,
+            "max_z_decrease": 0.007668256759643555,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501622539578216,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007668256759643555,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021151957689931517,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007668256759643555,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076686507873873705,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1890769153833389,
+              -0.36023065447807306,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1890769153833389,
+              -0.36023065447807306,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18850864717415045,
+              -0.3609795114428526,
+              0.8095283036226816
+            ],
+            "closest_button": [
+              0.18907554447650907,
+              -0.36024132370948786,
+              0.774524450302124
+            ],
+            "closest_ee_minus_button": [
+              -0.000566897302358621,
+              -0.0007381877333647591,
+              0.035003853320557554
+            ],
+            "button_min_z_position": [
+              0.18902114033699036,
+              -0.3602848052978515,
+              0.7691406011581421
+            ],
+            "min_active_finger_to_button": 0.14674471493208055,
+            "closest_active_finger": [
+              0.04766745865345001,
+              -0.3440041244029999,
+              0.8087021708488464
+            ],
+            "closest_active_finger_button": [
+              0.1891093850135803,
+              -0.36024960875511164,
+              0.7731454968452454
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14144192636013028,
+              0.01624548435211176,
+              0.035556674003601074
+            ],
+            "min_contact_pad_to_button": 0.021151957689931517,
+            "closest_contact_pad": [
+              0.18902114033699036,
+              -0.3621732140272464,
+              0.7902080933341795
+            ],
+            "closest_contact_pad_button": [
+              0.18902114033699036,
+              -0.3602848052978515,
+              0.7691406011581421
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001888408729394886,
+              0.021067492176037428
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c1a7560456d1396b3621431ffd678d3244be1e37b6728859c25024ed209baf2",
+    "visual_seed": 5009972402687457979,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_110_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..be6d478ec0ee4c41b70550c8109b55621e056ff0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_110_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33911422938730135,
+              0.016446833077549544,
+              0.9990529730025163
+            ],
+            "current_z": 0.9990529730025163,
+            "required_z": 0.8565863881992761,
+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.14246658480324015,
+            "gripper_z": 0.9997755439548619,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33463864176489483,
+              0.011918729375751405,
+              0.9997755439548619
+            ],
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+              0.004475587622406518,
+              0.004528103701798139,
+              -0.0007225709523456247
+            ],
+            "object_to_gripper_xy": 0.006366679487776689,
+            "object_to_gripper_z": -0.0007225709523456247,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.33911422938730135,
+              -0.007590851628537653,
+              0.9990529730025163
+            ],
+            "finger_b": [
+              0.32777521146833705,
+              0.016446833077549544,
+              0.9990529730025163
+            ],
+            "finger_midpoint": [
+              0.3334447204278192,
+              0.004427990724505945,
+              0.9990529730025163
+            ],
+            "object_minus_finger_midpoint": [
+              0.00566950895948215,
+              0.0120188423530436,
+              0.0
+            ],
+            "finger_gap": 0.02657787827114595,
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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": 0.8179837061218151,
+            "object_to_finger_line_xy": 0.01025528579941777,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048678612899284365,
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+            "object_tilt_deg": 2.3101507794595006,
+            "object_max_tilt_deg": 15.0,
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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": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.761106567619411
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+              0.2793540655555182,
+              1.0403992167711609
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+            "xy_threshold": 0.15,
+            "target_z": 0.761106567619411,
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+            "gripper_z": 1.0403992167711609,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.32873351386776,
+            "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": 1.8989091646599288,
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+            "source_tilt_deg": 2.7085067410285206,
+            "max_source_tilt_deg": 89.81551129738234,
+            "source_upright_tilt_deg": 2.4421270141523665,
+            "max_source_upright_tilt_deg": 89.74288724648294,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 2.7085067410285206,
+            "source_upright_return_tilt_deg": 2.4421270141523665,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.8189185285171422e-07,
+            "max_target_xy_drift": 1.8189185285171422e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
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+    "visual_seed": 7313042738221469922,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_111_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_111_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..57ad35a8983a490f38f5ae68b908d7e6a8f623b1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_111_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 111,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+      "reason": "executed",
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+              0.00430140658098435,
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+              0.9999762700310095
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+              0.0024707170490153516,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "passed": true,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "max_valid_pour_pose_frames": 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": [],
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+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18455499861133276,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395593849162,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075529663792439,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08900202530998351,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15263929310664082,
+            "release_required_pad_clearance": 0.05450101265499176,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.0334777609624695,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007705092430114746,
+            "max_z_decrease": 0.007705092430114746,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503035250206962,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007705092430114746,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021294859605920705,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007705092430114746,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007705329503184254,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18614019453525538,
+              -0.3672095537185669,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18614019453525538,
+              -0.3672095537185669,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1846765125435383,
+              -0.3685400899722426,
+              0.806135154585822
+            ],
+            "closest_button": [
+              0.18608433008193967,
+              -0.36720964312553406,
+              0.7711583971977234
+            ],
+            "closest_ee_minus_button": [
+              -0.001407817538401357,
+              -0.0013304468467085218,
+              0.03497675738809858
+            ],
+            "button_min_z_position": [
+              0.18607994914054865,
+              -0.3672144412994385,
+              0.7691037654876709
+            ],
+            "min_active_finger_to_button": 0.14741908638243642,
+            "closest_active_finger": [
+              0.04344215989112854,
+              -0.35469120740890503,
+              0.8081902861595154
+            ],
+            "closest_active_finger_button": [
+              0.18615314364433283,
+              -0.3672211766242981,
+              0.7734201550483704
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1427109837532043,
+              0.012529969215393066,
+              0.03477013111114502
+            ],
+            "min_contact_pad_to_button": 0.021294859605920705,
+            "closest_contact_pad": [
+              0.18607994914054865,
+              -0.36959396680597045,
+              0.7902652612760039
+            ],
+            "closest_contact_pad_button": [
+              0.18607994914054865,
+              -0.3672144412994385,
+              0.7691037654876709
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023795255065319765,
+              0.02116149578833304
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 111,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5c0eedc3b52f9875d525d76ffc3a17c4a6fe3be97554fa6b208e12547612ce46",
+    "visual_seed": 3445667553116266436,
+    "episode_index": 111,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_112_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_112_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a74be3ac6c29d9d25f50e2f225bac914dc64483
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_112_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 112,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3322767215124851,
+              0.015379585602477187,
+              0.9972251233271382
+            ],
+            "current_z": 0.9972251233271382,
+            "required_z": 0.8565864478039206,
+            "initial_z": 0.7565864478039206,
+            "lift_margin": 0.14063867552321763,
+            "gripper_z": 0.9982623121619979,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32763374963041203,
+              0.010900814232647646,
+              0.9982623121619979
+            ],
+            "object_minus_gripper": [
+              0.004642971882073077,
+              0.0044787713698295414,
+              -0.0010371888348597036
+            ],
+            "object_to_gripper_xy": 0.006451091448811278,
+            "object_to_gripper_z": -0.0010371888348597036,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3322767215124851,
+              -0.009052714442307893,
+              0.9972251233271382
+            ],
+            "finger_b": [
+              0.3213853166739738,
+              0.015379585602477187,
+              0.9972251233271382
+            ],
+            "finger_midpoint": [
+              0.3268310190932294,
+              0.003163435580084647,
+              0.9972251233271382
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054457024192556824,
+              0.012216150022392541,
+              0.0
+            ],
+            "finger_gap": 0.02674995298752416,
+            "fingertip_max_gap": 0.09285342696565743,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013374976493762092,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9972251233271382,
+            "object_top_z": 1.0426149474364539,
+            "finger_top_clearance": 0.04538982410931569,
+            "fingertip_min_top_clearance": 0.013616947232794706,
+            "object_projection_between_fingers": 0.8342239618335537,
+            "object_to_finger_line_xy": 0.009947758452055576,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04892671348282872,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4114441201523316,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
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+              0.18506732583045957,
+              -0.3625641763210296,
+              0.7692762017250061
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006885893611675575,
+              0.0211953337402635
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 112,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "86f660330e25a6624508ef669183fdfb02c1ec6135148c9f6393204eb0177abe",
+    "visual_seed": 7525990600771854310,
+    "episode_index": 112,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f305d60c513401698ed3f81e0519797e2ada742f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_12_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33882947499307337,
+              0.009708829486608915,
+              0.9970699764745925
+            ],
+            "current_z": 0.9970699764745925,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14048346906602693,
+            "gripper_z": 0.9980190602248272,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3345345848810235,
+              0.005406956080750619,
+              0.9980190602248272
+            ],
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+              0.004294890112049865,
+              0.004301873405858296,
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+            "object_to_gripper_xy": 0.006078831785352722,
+            "object_to_gripper_z": -0.0009490837502347249,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33882947499307337,
+              -0.01447579460431608,
+              0.9970699764745925
+            ],
+            "finger_b": [
+              0.328192692234669,
+              0.009708829486608915,
+              0.9970699764745925
+            ],
+            "finger_midpoint": [
+              0.33351108361387116,
+              -0.0023834825588535825,
+              0.9970699764745925
+            ],
+            "object_minus_finger_midpoint": [
+              0.005318391379202203,
+              0.012092312045462498,
+              0.0
+            ],
+            "finger_gap": 0.0264203934465185,
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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": 0.009736667740000681,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04918520330592181,
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+            "object_tilt_deg": 3.0627422375023294,
+            "object_max_tilt_deg": 15.0,
+            "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_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.3094152565763898,
+              0.7611065676194108
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+            "gripper_position": [
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+              0.27894552628432273,
+              1.0385464904751702
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+            "held_minus_gripper": [
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+              0.004195735002428591,
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+            "max_held_gripper_dist": 0.006157400526858876,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "gripper_z": 1.0385464904751702,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.36606732787105,
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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": 89.92689354624159,
+            "source_upright_tilt_deg": 3.3693673274159397,
+            "max_source_upright_tilt_deg": 89.63717786967568,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 2.8839416130067224,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.06402249678704e-08,
+            "max_target_xy_drift": 2.862419592186592e-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": 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_a",
+              "raw_target_position": [
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+                0.3094,
+                0.7611
+              ],
+              "controller_target_position": [
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+                0.3094,
+                0.7611
+              ],
+              "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,
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                ],
+                "pour_height_range_m": [
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+              "source_pose_held_object": "beaker_b",
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+              "wrist_compensated_return_position": -1.6171451807022095
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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_a",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/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": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33403055147060134,
+              -0.30185601157772124,
+              0.8515395860954035
+            ],
+            "target_position": [
+              0.3251297087043945,
+              -0.3038026676335599,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009111227784907474,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18594418885122885,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395860954035,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528063113633282,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08628872200455938,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1547653511471205,
+            "release_required_pad_clearance": 0.05314436100227969,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3140074067928857,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 160,
+            "max_placed_release_frames": 160
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007501363754272461,
+            "max_z_decrease": 0.007501363754272461,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504622990979053,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007501363754272461,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021161137152945764,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007501363754272461,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007502025985406974,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18082962930202484,
+              -0.3600641191005707,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18082962930202484,
+              -0.3600641191005707,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18104062370266819,
+              -0.3580600260778106,
+              0.8044267662731627
+            ],
+            "closest_button": [
+              0.1807374507188797,
+              -0.3600759208202362,
+              0.7694398760795593
+            ],
+            "closest_ee_minus_button": [
+              0.00030317298378848556,
+              0.0020158947424255835,
+              0.03498689019360335
+            ],
+            "button_min_z_position": [
+              0.18073056638240814,
+              -0.3600751757621765,
+              0.7693074941635132
+            ],
+            "min_active_finger_to_button": 0.1448402497171407,
+            "closest_active_finger": [
+              0.05497659742832184,
+              -0.4228034019470215,
+              0.8084699511528015
+            ],
+            "closest_active_finger_button": [
+              0.18084202706813812,
+              -0.3600742816925049,
+              0.7738051414489746
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12586542963981628,
+              -0.0627291202545166,
+              0.034664809703826904
+            ],
+            "min_contact_pad_to_button": 0.021161137152945764,
+            "closest_contact_pad": [
+              0.18073342740535736,
+              -0.3600756227970124,
+              0.7905359845650551
+            ],
+            "closest_contact_pad_button": [
+              0.18073342740535736,
+              -0.3600756227970124,
+              0.7693748474121094
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021161137152945764
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff9f8ad8f20b541bbb68a8685a7d21f045f36197e4335d0c9982121334e99635",
+    "visual_seed": 4523023107676107416,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..32cd1472593e02ee57a4ed1dc853f563fea86ef3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_14_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33863692658426253,
+              0.014070409682693732,
+              1.0007941064745327
+            ],
+            "current_z": 1.0007941064745327,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.1442076586706118,
+            "gripper_z": 1.0013398755146274,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3344540595789069,
+              0.009662085256874564,
+              1.0013398755146274
+            ],
+            "object_minus_gripper": [
+              0.004182867005355639,
+              0.004408324425819168,
+              -0.0005457690400947346
+            ],
+            "object_to_gripper_xy": 0.00607698121008834,
+            "object_to_gripper_z": -0.0005457690400947346,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33863692658426253,
+              -0.009704095251043996,
+              1.0007941064745327
+            ],
+            "finger_b": [
+              0.32740552183949145,
+              0.014070409682693732,
+              1.0007941064745327
+            ],
+            "finger_midpoint": [
+              0.33302122421187696,
+              0.002183157215824868,
+              1.0007941064745327
+            ],
+            "object_minus_finger_midpoint": [
+              0.005615702372385567,
+              0.011887252466868864,
+              0.0
+            ],
+            "finger_gap": 0.02629394488062196,
+            "fingertip_max_gap": 0.09282191472643506,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013146972440310992,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
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+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007586300373077393,
+            "max_z_decrease": 0.007586300373077393,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498259656642897,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007586300373077393,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021269254092304526,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007586300373077393,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007586846658170558,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1807340532541275,
+              -0.36279028654098505,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1807340532541275,
+              -0.36279028654098505,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18055269128049736,
+              -0.3628992436137129,
+              0.8058309213747893
+            ],
+            "closest_button": [
+              0.18066355586051946,
+              -0.3628033697605132,
+              0.7708486318588257
+            ],
+            "closest_ee_minus_button": [
+              -0.00011086458002210198,
+              -9.587385319970165e-05,
+              0.034982289515963605
+            ],
+            "button_min_z_position": [
+              0.18064337968826294,
+              -0.3627984821796416,
+              0.7692225575447083
+            ],
+            "min_active_finger_to_button": 0.14612343326243868,
+            "closest_active_finger": [
+              0.03972751647233963,
+              -0.347146213054657,
+              0.8076843619346619
+            ],
+            "closest_active_finger_button": [
+              0.18075385689735413,
+              -0.3627977073192596,
+              0.7727750539779663
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1410263404250145,
+              0.015651494264602606,
+              0.03490930795669556
+            ],
+            "min_contact_pad_to_button": 0.021269254092304526,
+            "closest_contact_pad": [
+              0.18064337968826294,
+              -0.3640325488794099,
+              0.7904559804676271
+            ],
+            "closest_contact_pad_button": [
+              0.18064337968826294,
+              -0.3627984821796416,
+              0.7692225575447083
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001234066699768277,
+              0.021233422922918854
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "27f24fce3b978760ceaca9f9267816dc1933ad43cd239d98fa9a25bcfd44bb6a",
+    "visual_seed": 8438506028115065522,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..edfa57e3c7ff7bfea3d44d541095363854b89f6c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_15_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3388856048896268,
+              0.009398215939473355,
+              0.999855667517741
+            ],
+            "current_z": 0.999855667517741,
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14326916010917545,
+            "gripper_z": 1.0005162474677862,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3345976711644675,
+              0.004939737490250409,
+              1.0005162474677862
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+              0.004287933725159343,
+              0.004458478449222945,
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+            ],
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+            "object_to_gripper_z": -0.0006605799500452036,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3388856048896268,
+              -0.01443716003381687,
+              0.999855667517741
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+            "finger_b": [
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+              0.009398215939473355,
+              0.999855667517741
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+            "finger_midpoint": [
+              0.333225893288826,
+              -0.002519472047171758,
+              0.999855667517741
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+            "object_minus_finger_midpoint": [
+              0.00565971160080081,
+              0.011917687986645113,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010224976058789954,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048790163834120284,
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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": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.3028006609247632,
+              0.7611063888054767
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+              0.2705127751837575,
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+            "xy_threshold": 0.15,
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+            "required_height": 0.7911063888054767,
+            "gripper_z": 1.0408207460635912,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.35839702543313,
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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_start_tilt_deg": 1.7478813487215261,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.0527211131089693,
+            "max_source_tilt_deg": 89.64731802417052,
+            "source_upright_tilt_deg": 2.347124490160779,
+            "max_source_upright_tilt_deg": 89.59173190144031,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 3.0527211131089693,
+            "source_upright_return_tilt_deg": 2.347124490160779,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.332000937312528e-08,
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+                "gripper",
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+                "robotiq_2f85",
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+                "wrist",
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+                "wrist_2_joint",
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+                "ground",
+                "groundplane",
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+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "651ea17c43ae23047adbc1d1295e32ce04bb0b119b95a8255630aa49c516e0f2",
+    "visual_seed": 2924097567290508674,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ddf49acdb489360291f933f6704b1230af7f231
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_16_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "valid_pour_pose_frames": 0,
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+            "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_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3360342141458963,
+              -0.30828363394578656,
+              0.8515394959759057
+            ],
+            "target_position": [
+              0.3282704048329568,
+              -0.31020893292538004,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007998969384146315,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1861897323792211,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394959759057,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566813719603827,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08560340076415805,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1540082105561126,
+            "release_required_pad_clearance": 0.05280170038207903,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6501149329122644,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075501203536987305,
+            "max_z_decrease": 0.0075501203536987305,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502480511528474,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075501203536987305,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.02119977441979793,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0075501203536987305,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0075506758698467525,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18397033214569092,
+              -0.3664703965187072,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18397033214569092,
+              -0.3664703965187072,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18303928398533797,
+              -0.3665814279194453,
+              0.8081699722353529
+            ],
+            "closest_button": [
+              0.18400982022285456,
+              -0.36649262905120844,
+              0.7731587290763855
+            ],
+            "closest_ee_minus_button": [
+              -0.0009705362375165838,
+              -8.879886823687233e-05,
+              0.03501124315896742
+            ],
+            "button_min_z_position": [
+              0.1838884204626083,
+              -0.36651137471199025,
+              0.7692587375640869
+            ],
+            "min_active_finger_to_button": 0.1473631806956244,
+            "closest_active_finger": [
+              0.05467388033866882,
+              -0.42760300636291504,
+              0.8085655570030212
+            ],
+            "closest_active_finger_button": [
+              0.18400982022285456,
+              -0.36649262905120844,
+              0.7731587290763855
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12933593988418574,
+              -0.0611103773117066,
+              0.03540682792663574
+            ],
+            "min_contact_pad_to_button": 0.02119977441979793,
+            "closest_contact_pad": [
+              0.1838884204626083,
+              -0.3682839692963324,
+              0.7903842752824476
+            ],
+            "closest_contact_pad_button": [
+              0.1838884204626083,
+              -0.36651137471199025,
+              0.7692587375640869
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017725945843421465,
+              0.021125537718360676
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3b957cb27f78ec649369e8d49eef7a3b196e89ebf2aba9beba6ff2d680b98f1d",
+    "visual_seed": 4217067025680045429,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3acbff74bc33b31c1dd654030f5a1b5a0b57fa6d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_18_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33684887731588925,
+              0.009740886876962035,
+              0.9975706243468996
+            ],
+            "current_z": 0.9975706243468996,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1409841765429788,
+            "gripper_z": 0.9984053511558456,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3322666847233172,
+              0.0052223701339159795,
+              0.9984053511558456
+            ],
+            "object_minus_gripper": [
+              0.004582192592572032,
+              0.0045185167430460554,
+              -0.0008347268089460291
+            ],
+            "object_to_gripper_xy": 0.006435330800557927,
+            "object_to_gripper_z": -0.0008347268089460291,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33684887731588925,
+              -0.014450411021649118,
+              0.9975706243468996
+            ],
+            "finger_b": [
+              0.32563207284224144,
+              0.009740886876962035,
+              0.9975706243468996
+            ],
+            "finger_midpoint": [
+              0.33124047507906534,
+              -0.0023547620723435416,
+              0.9975706243468996
+            ],
+            "object_minus_finger_midpoint": [
+              0.005608402236823906,
+              0.012095648949305576,
+              0.0
+            ],
+            "finger_gap": 0.026665250732355657,
+            "fingertip_max_gap": 0.09218889315394233,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013332625366177828,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9975706243468996,
+            "object_top_z": 1.0428254823587182,
+            "finger_top_clearance": 0.04525485801181861,
+            "fingertip_min_top_clearance": 0.0135764574035456,
+            "object_projection_between_fingers": 0.8230514714055965,
+            "object_to_finger_line_xy": 0.010176130020905188,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048594446576971165,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.187916822680904,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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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+            "closest_active_finger_button": [
+              0.17984305322170255,
+              -0.36482167243957514,
+              0.7732585072517395
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12703020870685575,
+              -0.06176471710205084,
+              0.03506290912628174
+            ],
+            "min_contact_pad_to_button": 0.021285605831227884,
+            "closest_contact_pad": [
+              0.1798844039440155,
+              -0.366022998288389,
+              0.7915977306773458
+            ],
+            "closest_contact_pad_button": [
+              0.1798844039440155,
+              -0.36479571461677546,
+              0.770347535610199
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001227283671613566,
+              0.02125019506714687
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "24b5852cb629873702a5439c8935f479ef7e7690c7cf979393544b7fa69e0ea0",
+    "visual_seed": 2125969637903414164,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..04c473c6fb270341ab153973e17c797cc87753d3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_19_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3321274158720754,
+              0.007117749221092602,
+              0.9976141570349468
+            ],
+            "current_z": 0.9976141570349468,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.14102759002173648,
+            "gripper_z": 0.9984417771456436,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32795088340691314,
+              0.002755856260802908,
+              0.9984417771456436
+            ],
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+              0.004176532465162253,
+              0.004361892960289694,
+              -0.000827620110696814
+            ],
+            "object_to_gripper_xy": 0.00603900104566799,
+            "object_to_gripper_z": -0.000827620110696814,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3321274158720754,
+              -0.016684960741261596,
+              0.9976141570349468
+            ],
+            "finger_b": [
+              0.3210002841500719,
+              0.007117749221092602,
+              0.9976141570349468
+            ],
+            "finger_midpoint": [
+              0.3265638500110737,
+              -0.004783605760084497,
+              0.9976141570349468
+            ],
+            "object_minus_finger_midpoint": [
+              0.005563565861001707,
+              0.011901354981177099,
+              0.0
+            ],
+            "finger_gap": 0.02627512249088045,
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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": 0.9976141570349468,
+            "object_top_z": 1.0428520178940817,
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+            "fingertip_min_top_clearance": 0.013571358257740451,
+            "object_projection_between_fingers": 0.8206600849156795,
+            "object_to_finger_line_xy": 0.010080101022694937,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04878469636669973,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.497748765815928,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.3092072363661237,
+              0.7611063292008317
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+            "gripper_position": [
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+              0.27777616295645563,
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+              -0.27820125670116036
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+              0.28196184778976763,
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+            "held_minus_target": [
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+              0.004185684833311998,
+              -0.0010273359823043116
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+            "held_gripper_dist": 0.006095630286912955,
+            "max_held_gripper_dist": 0.006099650242915888,
+            "held_gripper_threshold": 0.12,
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+            "xy_threshold": 0.15,
+            "target_z": 0.7611063292008317,
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+            "required_height": 0.7911063292008317,
+            "gripper_z": 1.039307585901992,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.34054291094272,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.6908262667491942,
+            "max_source_tilt_deg": 89.82527817406029,
+            "source_upright_tilt_deg": 2.557064434143582,
+            "max_source_upright_tilt_deg": 89.66341852245434,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 2.6908262667491942,
+            "source_upright_return_tilt_deg": 2.557064434143582,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.9802322387695312e-08,
+            "max_target_xy_drift": 1.6118070224511577e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_a",
+              "raw_target_position": [
+                0.187,
+                0.3092,
+                0.7611
+              ],
+              "controller_target_position": [
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+                0.3092,
+                0.7611
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_2": [
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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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_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
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+                "dummy_base_revolute_z_joint",
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+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "mobile_translate_x",
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+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "wheel",
+                "workbench"
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+            },
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+            "last_frame": {
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+              "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",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3353496875615855,
+              -0.3064501908381031,
+              0.8515396066990832
+            ],
+            "target_position": [
+              0.3271746581707876,
+              -0.3081221225310138,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008344247187504011,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18365696026851097,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396066990832,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548568626381003,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854854613400111,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15203618043721004,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5366819431997923,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007431447505950928,
+            "max_z_decrease": 0.007431447505950928,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499147111872676,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007431447505950928,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.02128382940699571,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007431447505950928,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007432019762954154,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18287459015846252,
+              -0.3643835783004761,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18287459015846252,
+              -0.3643835783004761,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18312188525113035,
+              -0.3647637646508879,
+              0.8080005704104485
+            ],
+            "closest_button": [
+              0.18285556137561798,
+              -0.36439633369445795,
+              0.7730120420455933
+            ],
+            "closest_ee_minus_button": [
+              0.0002663238755123698,
+              -0.00036743095642993717,
+              0.03498852836485522
+            ],
+            "button_min_z_position": [
+              0.18278494477272034,
+              -0.3644052445888519,
+              0.7693774104118347
+            ],
+            "min_active_finger_to_button": 0.1457825547051974,
+            "closest_active_finger": [
+              0.04234285652637482,
+              -0.34826385974884033,
+              0.8083153963088989
+            ],
+            "closest_active_finger_button": [
+              0.18290236592292786,
+              -0.36439958214759827,
+              0.773169755935669
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14055950939655304,
+              0.016135722398757935,
+              0.03514564037322998
+            ],
+            "min_contact_pad_to_button": 0.02128382940699571,
+            "closest_contact_pad": [
+              0.18278494477272034,
+              -0.3659365857273445,
+              0.7906060794361437
+            ],
+            "closest_contact_pad_button": [
+              0.18278494477272034,
+              -0.3644052445888519,
+              0.7693774104118347
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015313411384926257,
+              0.021228669024308977
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "944a580366ef561c9ced3614d99d2213576ef299a79dc6fb0e1b1105b8915e48",
+    "visual_seed": 8999702620627223188,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c94c519ab82f5cc5349c3821029cb2b925331d13
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_1_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33130595566100784,
+              0.015294479611545236,
+              0.9969183857353762
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+            "current_z": 0.9969183857353762,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.1403318187221657,
+            "gripper_z": 0.9979179136670372,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32691826586142525,
+              0.010961006134435111,
+              0.9979179136670372
+            ],
+            "object_minus_gripper": [
+              0.004387689799582595,
+              0.004333473477110125,
+              -0.0009995279316610262
+            ],
+            "object_to_gripper_xy": 0.006166912854433575,
+            "object_to_gripper_z": -0.0009995279316610262,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33130595566100784,
+              -0.00904263991820733,
+              0.9969183857353762
+            ],
+            "finger_b": [
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+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007591843605041504,
+            "max_z_decrease": 0.007591843605041504,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500063040726303,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007591843605041504,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021278426474337194,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007591843605041504,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007592193193770615,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18190112709999084,
+              -0.3666666150093079,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18190112709999084,
+              -0.3666666150093079,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18197575438956548,
+              -0.36747460545250893,
+              0.8072934839464345
+            ],
+            "closest_button": [
+              0.1819138526916504,
+              -0.3666677176952362,
+              0.7723022103309631
+            ],
+            "closest_ee_minus_button": [
+              6.190169791508993e-05,
+              -0.0008068877572727229,
+              0.034991273615471385
+            ],
+            "button_min_z_position": [
+              0.1818334460258484,
+              -0.3666935861110687,
+              0.7692170143127441
+            ],
+            "min_active_finger_to_button": 0.1459431217075759,
+            "closest_active_finger": [
+              0.04118920862674713,
+              -0.35053083300590515,
+              0.8087112903594971
+            ],
+            "closest_active_finger_button": [
+              0.18192340433597565,
+              -0.3666779100894928,
+              0.7736035585403442
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14073419570922852,
+              0.016147077083587646,
+              0.03510773181915283
+            ],
+            "min_contact_pad_to_button": 0.021278426474337194,
+            "closest_contact_pad": [
+              0.1818334460258484,
+              -0.36868852540827124,
+              0.7904017175304966
+            ],
+            "closest_contact_pad_button": [
+              0.1818334460258484,
+              -0.3666935861110687,
+              0.7692170143127441
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019949392972025137,
+              0.021184703217752454
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f7ea2a717011d16da30858781e7ee121c08b77fa83d373aa5e1fe5aa15736365",
+    "visual_seed": 6467924803699451271,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..075be33cf99213c180770f34d90166cfb84525ae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_20_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.33699471752298865,
+              0.0065254574428535135,
+              0.9974231247619769
+            ],
+            "current_z": 0.9974231247619769,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.14083655774876658,
+            "gripper_z": 0.9982208092585952,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3324603943797916,
+              0.002036755984225175,
+              0.9982208092585952
+            ],
+            "object_minus_gripper": [
+              0.004534323143197072,
+              0.004488701458628339,
+              -0.0007976844966183227
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+            "object_to_gripper_xy": 0.0063803234362863415,
+            "object_to_gripper_z": -0.0007976844966183227,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33699471752298865,
+              -0.01763468180405601,
+              0.9974231247619769
+            ],
+            "finger_b": [
+              0.3258228388716248,
+              0.0065254574428535135,
+              0.9974231247619769
+            ],
+            "finger_midpoint": [
+              0.33140877819730674,
+              -0.005554612180601248,
+              0.9974231247619769
+            ],
+            "object_minus_finger_midpoint": [
+              0.00558593932568191,
+              0.012080069623454762,
+              0.0
+            ],
+            "finger_gap": 0.026618099125047562,
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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": 0.8238436336040827,
+            "object_to_finger_line_xy": 0.010140248655567551,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04858300056524863,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1414842470564617,
+            "object_max_tilt_deg": 15.0,
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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_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.3061470146940656,
+              0.7611064484101212
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+              0.27493243674870593,
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+            "held_minus_gripper": [
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+              0.004298906853092088,
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+            "held_gripper_dist": 0.006430535982926624,
+            "max_held_gripper_dist": 0.006433765713404663,
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+            "xy_threshold": 0.15,
+            "target_z": 0.7611064484101212,
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+            "gripper_z": 1.03876727849926,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.36282981820447,
+            "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_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ffe46a2f621b16c7e17c03a9e0d5e8c5db7b45133079cb1d3cab8f144155aba2",
+    "visual_seed": 1781852936430761591,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..65f6928ae29319f9a35cdd0ab43ef26118b5967b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_21_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.017262999413852398,
+              0.9995073515289531
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+            "current_z": 0.9995073515289531,
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+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.14292096332967708,
+            "gripper_z": 1.0005099059249012,
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+            "gripper_position": [
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+              0.012661707102762446,
+              1.0005099059249012
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+              0.004601292311089952,
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+              0.33119714022461444,
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+            "finger_b": [
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+              0.017262999413852398,
+              0.9995073515289531
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+              0.005140093646108897,
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+              0.0121229057677435,
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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_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
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+          }
+        },
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+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.27113355342319423,
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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,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_pose_failed_keys": [
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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": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33361813209469715,
+              -0.3099520021538209,
+              0.8515396109440265
+            ],
+            "target_position": [
+              0.32530637665429146,
+              -0.3124925730628336,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.00869136232387278,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18554963493751067,
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+            "gripper_away_ok": true,
+            "object_z": 0.8515396109440265,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539698226573105,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08544771316214321,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15417054689232132,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5004584333922467,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074242353439331055,
+            "max_z_decrease": 0.0074242353439331055,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035043471563124616,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074242353439331055,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02108592692929201,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0074242353439331055,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00742428631220633,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1810062974691391,
+              -0.3687540292739868,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1810062974691391,
+              -0.3687540292739868,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17970256536759932,
+              -0.36705975706712285,
+              0.8052775286215715
+            ],
+            "closest_button": [
+              0.18092350661754605,
+              -0.36876621842384333,
+              0.7702969312667847
+            ],
+            "closest_ee_minus_button": [
+              -0.0012209412499467331,
+              0.001706461356720479,
+              0.03498059735478687
+            ],
+            "button_min_z_position": [
+              0.18098323047161102,
+              -0.36876901984214777,
+              0.7693846225738525
+            ],
+            "min_active_finger_to_button": 0.1463394547312257,
+            "closest_active_finger": [
+              0.0535212904214859,
+              -0.43174341320991516,
+              0.8110233545303345
+            ],
+            "closest_active_finger_button": [
+              0.1810123324394226,
+              -0.36876270174980164,
+              0.7764589190483093
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1274910420179367,
+              -0.06298071146011353,
+              0.034564435482025146
+            ],
+            "min_contact_pad_to_button": 0.02108592692929201,
+            "closest_contact_pad": [
+              0.18092997372150418,
+              -0.36876922845840454,
+              0.790863701740083
+            ],
+            "closest_contact_pad_button": [
+              0.18092997372150418,
+              -0.36876922845840454,
+              0.769777774810791
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108592692929201
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "509929def5100f880ad4a384d6adc695687298ab912097db16b6eb0acbe58114",
+    "visual_seed": 5954851454026533843,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..76054fbfc936c00aac320863ccaea3ba89470c61
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_22_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3341292075519431,
+              0.006548638240851362,
+              0.9981600526070101
+            ],
+            "current_z": 0.9981600526070101,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.1415736644077341,
+            "gripper_z": 0.9990051427596319,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3296949449218566,
+              0.002005513035053197,
+              0.9990051427596319
+            ],
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+              0.004434262630086505,
+              0.004543125205798165,
+              -0.0008450901526217969
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+            "object_to_gripper_xy": 0.006348438525191869,
+            "object_to_gripper_z": -0.0008450901526217969,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3341292075519431,
+              -0.017347133669613577,
+              0.9981600526070101
+            ],
+            "finger_b": [
+              0.32263026353217716,
+              0.006548638240851362,
+              0.9981600526070101
+            ],
+            "finger_midpoint": [
+              0.3283797355420601,
+              -0.0053992477143811075,
+              0.9981600526070101
+            ],
+            "object_minus_finger_midpoint": [
+              0.005749472009882961,
+              0.01194788595523247,
+              0.0
+            ],
+            "finger_gap": 0.026518552539056044,
+            "fingertip_max_gap": 0.09231877893722226,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9981600526070101,
+            "object_top_z": 1.0434396722022687,
+            "finger_top_clearance": 0.04527961959525861,
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+            "object_projection_between_fingers": 0.8119747006388095,
+            "object_to_finger_line_xy": 0.010361656923123776,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04865938946861113,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.207242019495371,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
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+              0.1801577061414718,
+              -0.35985070466995234,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1793619118719567,
+              -0.3603746935388782,
+              0.8042868873415964
+            ],
+            "closest_button": [
+              0.1800603717565536,
+              -0.3598555922508239,
+              0.7693108320236206
+            ],
+            "closest_ee_minus_button": [
+              -0.0006984598845969081,
+              -0.0005191012880542689,
+              0.03497605531797576
+            ],
+            "button_min_z_position": [
+              0.1800603717565536,
+              -0.3598555922508239,
+              0.7693108320236206
+            ],
+            "min_active_finger_to_button": 0.14667091022763798,
+            "closest_active_finger": [
+              0.03842775523662567,
+              -0.3454115390777588,
+              0.8075941801071167
+            ],
+            "closest_active_finger_button": [
+              0.18017770349979398,
+              -0.3598737716674804,
+              0.7728069424629211
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1417499482631683,
+              0.014462232589721624,
+              0.03478723764419556
+            ],
+            "min_contact_pad_to_button": 0.021162119436652582,
+            "closest_contact_pad": [
+              0.1800603717565536,
+              -0.361449569723827,
+              0.7904128351244333
+            ],
+            "closest_contact_pad_button": [
+              0.1800603717565536,
+              -0.3598555922508239,
+              0.7693108320236206
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015939774730031053,
+              0.021102003100812672
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f0bf71a87cbd7f413cc10a80f5c3eb1d3b35983e92a846234621e06b696fe3bd",
+    "visual_seed": 2266980923011675032,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..518150c63ec9288039ce99c3a3a615feb4a8c386
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_23_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3347503999076682,
+              0.014567091804799545,
+              1.0001537165661192
+            ],
+            "current_z": 1.0001537165661192,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.14356714955290883,
+            "gripper_z": 1.0010004584837813,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.330305624089944,
+              0.010010872042585037,
+              1.0010004584837813
+            ],
+            "object_minus_gripper": [
+              0.004444775817724178,
+              0.004556219762214509,
+              -0.0008467419176620972
+            ],
+            "object_to_gripper_xy": 0.006365152833311991,
+            "object_to_gripper_z": -0.0008467419176620972,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3347503999076682,
+              -0.009332008927696207,
+              1.0001537165661192
+            ],
+            "finger_b": [
+              0.3232288939806648,
+              0.014567091804799545,
+              1.0001537165661192
+            ],
+            "finger_midpoint": [
+              0.3289896469441665,
+              0.002617541438551669,
+              1.0001537165661192
+            ],
+            "object_minus_finger_midpoint": [
+              0.005760752963501703,
+              0.011949550366247876,
+              0.0
+            ],
+            "finger_gap": 0.026531342119236138,
+            "fingertip_max_gap": 0.09243521928227724,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013265671059618069,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0001537165661192,
+            "object_top_z": 1.0454580230304533,
+            "finger_top_clearance": 0.04530430646433414,
+            "fingertip_min_top_clearance": 0.013591291939300226,
+            "object_projection_between_fingers": 0.811418078956683,
+            "object_to_finger_line_xy": 0.010378428256739423,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04871760964113862,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3161017146823273,
+            "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_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18155953902859295,
+              0.30878678520187813,
+              0.7611065676194108
+            ],
+            "gripper_position": [
+              0.18712380229992434,
+              0.27916390177840844,
+              1.0382441615495603
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+            "target_minus_gripper": [
+              -0.005564263271331388,
+              0.029622883423469692,
+              -0.2771375939301496
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+            "held_position": [
+              0.1917543815322912,
+              0.2834891576011539,
+              1.0372018152064955
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+            "held_minus_target": [
+              0.01019484250369826,
+              -0.025297627600724237,
+              0.2760952475870847
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+            "held_minus_gripper": [
+              0.0046305792323668715,
+              0.004325255822745455,
+              -0.0010423463430648816
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+            "xy_dist": 0.030140939734407138,
+            "held_xy_dist": 0.027274617795674742,
+            "held_gripper_dist": 0.0064215720706320475,
+            "max_held_gripper_dist": 0.006424700151008852,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7611065676194108,
+            "held_z": 1.0372018152064955,
+            "required_height": 0.7911065676194108,
+            "gripper_z": 1.0382441615495603,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.33040691021442,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 1.4560094820577096,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.8689059399893595,
+            "max_source_tilt_deg": 89.93212549681017,
+            "source_upright_tilt_deg": 2.4003978056281077,
+            "max_source_upright_tilt_deg": 89.81013845613819,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 2.8689059399893595,
+            "source_upright_return_tilt_deg": 2.4003978056281077,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 8.024520884654677e-08,
+            "max_target_xy_drift": 2.950279395762582e-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_a",
+              "raw_target_position": [
+                0.1816,
+                0.3088,
+                0.7611
+              ],
+              "controller_target_position": [
+                0.1816,
+                0.3088,
+                0.7611
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0014,
+                0.0018,
+                -0.0002
+              ],
+              "controller_last_pour_pose_position": [
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+                0.2846,
+                1.0269
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
+                0.0652,
+                0.0641,
+                0.093
+              ],
+              "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,
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3324438185931299,
+              -0.3104544763846549,
+              0.8515395047693622
+            ],
+            "target_position": [
+              0.3242794142385421,
+              -0.31242662159677487,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008399217535157625,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1841753381457903,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395047693622,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579017493691635,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08649004256307156,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15170431295864917,
+            "release_required_pad_clearance": 0.053245021281535784,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.510739502181872,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00753939151763916,
+            "max_z_decrease": 0.00753939151763916,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504424810096147,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00753939151763916,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.02111237750174377,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00753939151763916,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00753979640538618,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17997933924198148,
+              -0.36868807673454274,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17997933924198148,
+              -0.36868807673454274,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1781692026247341,
+              -0.3678619564323778,
+              0.8044761225417202
+            ],
+            "closest_button": [
+              0.17992193996906275,
+              -0.3687295019626617,
+              0.7694864869117737
+            ],
+            "closest_ee_minus_button": [
+              -0.0017527373443286531,
+              0.0008675455302838975,
+              0.0349896356299465
+            ],
+            "button_min_z_position": [
+              0.17992527782917023,
+              -0.3687444925308227,
+              0.7692694664001465
+            ],
+            "min_active_finger_to_button": 0.14719692490404127,
+            "closest_active_finger": [
+              0.05022194981575012,
+              -0.4286550283432007,
+              0.8081585168838501
+            ],
+            "closest_active_finger_button": [
+              0.18000441789627072,
+              -0.3687082529067992,
+              0.773089587688446
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1297824680805206,
+              -0.05994677543640148,
+              0.03506892919540405
+            ],
+            "min_contact_pad_to_button": 0.02111237750174377,
+            "closest_contact_pad": [
+              0.17992527782917023,
+              -0.3692883929643996,
+              0.7903748367142275
+            ],
+            "closest_contact_pad_button": [
+              0.17992527782917023,
+              -0.3687444925308227,
+              0.7692694664001465
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005439004335768827,
+              0.021105370314080996
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "55028d54ad25805049ef8b456fe04d792c42e4f2f43b0ca6c0f0632462b3c1f4",
+    "visual_seed": 165076971767624216,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c17d2beb054657d774333e6aa03f0236acb2b713
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_24_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33795335021247325,
+              0.008965238114504392,
+              0.9978065631113906
+            ],
+            "current_z": 0.9978065631113906,
+            "required_z": 0.8565863285946312,
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+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0077170729637146,
+            "max_z_decrease": 0.0077170729637146,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035076634847491454,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0077170729637146,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021174646745737224,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0077170729637146,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007717565421777568,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18896245956420898,
+              -0.3600102066993713,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18896245956420898,
+              -0.3600102066993713,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18719754812297823,
+              -0.3594832929248727,
+              0.8078151606729014
+            ],
+            "closest_button": [
+              0.18901562690734863,
+              -0.36003470420837397,
+              0.7727900147438049
+            ],
+            "closest_ee_minus_button": [
+              -0.0018180787843704027,
+              0.0005514112835012797,
+              0.035025145929096446
+            ],
+            "button_min_z_position": [
+              0.1888769119977951,
+              -0.36002701520919794,
+              0.769091784954071
+            ],
+            "min_active_finger_to_button": 0.1479101327347621,
+            "closest_active_finger": [
+              0.05895775556564331,
+              -0.42077893018722534,
+              0.8084620833396912
+            ],
+            "closest_active_finger_button": [
+              0.18901562690734863,
+              -0.36003470420837397,
+              0.7727900147438049
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.13005787134170532,
+              -0.060744225978851374,
+              0.03567206859588623
+            ],
+            "min_contact_pad_to_button": 0.021174646745737224,
+            "closest_contact_pad": [
+              0.1888769119977951,
+              -0.3610177820612964,
+              0.7902432398886977
+            ],
+            "closest_contact_pad_button": [
+              0.1888769119977951,
+              -0.36002701520919794,
+              0.769091784954071
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009907668520984791,
+              0.021151454934626668
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9abf245737a60b2d114e7327d0c4f8c813ce7fb6b7d81c4fd34a14429b6f3194",
+    "visual_seed": 8474484340619052763,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6f1245c77e39592387b58250d5e62b49f3b01ce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_25_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3394661701169949,
+              0.010212411211893074,
+              0.9985071130537277
+            ],
+            "current_z": 0.9985071130537277,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.14192072485445173,
+            "gripper_z": 0.999305167355316,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.334912642086576,
+              0.005702963922880111,
+              0.999305167355316
+            ],
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+              0.0045535280304189185,
+              0.004509447289012963,
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+            "object_to_gripper_xy": 0.006408567107879667,
+            "object_to_gripper_z": -0.0007980543015883024,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3394661701169949,
+              -0.013998482791573725,
+              0.9985071130537277
+            ],
+            "finger_b": [
+              0.3283181150489525,
+              0.010212411211893074,
+              0.9985071130537277
+            ],
+            "finger_midpoint": [
+              0.3338921425829737,
+              -0.0018930357898403255,
+              0.9985071130537277
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055740275340211975,
+              0.0121054470017334,
+              0.0
+            ],
+            "finger_gap": 0.02665420267513571,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.010126147192876502,
+            "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": 2.3627155417555623,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.3062019105719037,
+              0.7611063888054763
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+            "gripper_position": [
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+              0.2747355566507541,
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+              0.004394620338651345,
+              -0.0010408676430166963
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+            "xy_dist": 0.03248476813989878,
+            "held_xy_dist": 0.029897631154166167,
+            "held_gripper_dist": 0.006459208137436134,
+            "max_held_gripper_dist": 0.006462920188947951,
+            "held_gripper_threshold": 0.12,
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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": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "77cdd02c862000d95bbe0477c927a0ead430d7e12f2d9c4539b00a553876d71e",
+    "visual_seed": 925834828213812760,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef692c733aff335a9b30776201a30caf4d45efe3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_26_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33087351596937886,
+              0.015734067411968596,
+              0.9997716753834907
+            ],
+            "current_z": 0.9997716753834907,
+            "required_z": 0.8565863881992758,
+            "initial_z": 0.7565863881992758,
+            "lift_margin": 0.14318528718421486,
+            "gripper_z": 1.0006833882919146,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32654109847452334,
+              0.01124993224258626,
+              1.0006833882919146
+            ],
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+              0.004332417494855523,
+              0.004484135169382335,
+              -0.0009117129084239561
+            ],
+            "object_to_gripper_xy": 0.006235167164320596,
+            "object_to_gripper_z": -0.0009117129084239561,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33087351596937886,
+              -0.008102843771576192,
+              0.9997716753834907
+            ],
+            "finger_b": [
+              0.3194673274481644,
+              0.015734067411968596,
+              0.9997716753834907
+            ],
+            "finger_midpoint": [
+              0.32517042170877164,
+              0.0038156118201962018,
+              0.9997716753834907
+            ],
+            "object_minus_finger_midpoint": [
+              0.005703094260607222,
+              0.011918455591772393,
+              0.0
+            ],
+            "finger_gap": 0.026425356598420515,
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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": 0.9997716753834907,
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+            "fingertip_min_top_clearance": 0.01358565823567362,
+            "object_projection_between_fingers": 0.813688622262198,
+            "object_to_finger_line_xy": 0.01028891707517046,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048764931335927034,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3663694210584536,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1814370812859019,
+              0.30860698779091317,
+              0.7611063292008315
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+            "gripper_position": [
+              0.188556436873206,
+              0.2769635924446521,
+              1.0392937050212445
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+            "target_minus_gripper": [
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+              0.031643395346261094,
+              -0.278187375820413
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+            "held_position": [
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+              0.28121141151219886,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.0042478190675467875,
+              -0.0011254072888262634
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+            "held_gripper_dist": 0.006301571592759858,
+            "max_held_gripper_dist": 0.0063046988612667065,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7611063292008315,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.3448049489848,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.9071743428498955,
+            "max_source_tilt_deg": 89.99778201389694,
+            "source_upright_tilt_deg": 2.5495679748130726,
+            "max_source_upright_tilt_deg": 89.60056876208888,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 2.9071743428498955,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.9802322387695312e-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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+              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_a",
+              "raw_target_position": [
+                0.1814,
+                0.3086,
+                0.7611
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+              "controller_target_position": [
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+                0.3086,
+                0.7611
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+              "controller_target_minus_raw_target": [
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+                -0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
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+              "wrist_compensated_return_position": -1.615495204925537
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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_a",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_event": 6,
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+            "pour_controller_source_size": [
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+              0.0935
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "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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+                -0.0006537135514850449,
+                0.0001745940186481461
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+              "use_preinterpolated_cartesian_targets": false
+            },
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+                "gripper",
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+                "wrist_2_joint",
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+                "desk",
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+            },
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3360679358687302,
+              -0.30639501973753586,
+              0.8515395919899059
+            ],
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+              0.327461723375355,
+              -0.3090925979791782,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009019080987046808,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18560455662984165,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395919899059,
+            "min_z": 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_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1539129986658398,
+            "release_required_pad_clearance": 0.05370804414889234,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4254603120153413,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 159,
+            "max_placed_release_frames": 159
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007576048374176025,
+            "max_z_decrease": 0.007576048374176025,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035046303972381725,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007576048374176025,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021154702299249428,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007576048374176025,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007576460657252586,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1831616461277008,
+              -0.36535406112670893,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1831616461277008,
+              -0.36535406112670893,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1842153298110857,
+              -0.3637647698665555,
+              0.8073118252675197
+            ],
+            "closest_button": [
+              0.18316340446472168,
+              -0.36535596847534174,
+              0.7723174691200256
+            ],
+            "closest_ee_minus_button": [
+              0.00105192534636403,
+              0.0015911986087862595,
+              0.03499435614749402
+            ],
+            "button_min_z_position": [
+              0.1830868273973465,
+              -0.3653795421123504,
+              0.7692328095436096
+            ],
+            "min_active_finger_to_button": 0.14436411778155087,
+            "closest_active_finger": [
+              0.057096928358078,
+              -0.42624950408935547,
+              0.8082464933395386
+            ],
+            "closest_active_finger_button": [
+              0.18319302797317505,
+              -0.36537629365921015,
+              0.773100733757019
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12609609961509705,
+              -0.06087321043014532,
+              0.03514575958251953
+            ],
+            "min_contact_pad_to_button": 0.021154702299249428,
+            "closest_contact_pad": [
+              0.1830868273973465,
+              -0.3653795421123504,
+              0.790387511842859
+            ],
+            "closest_contact_pad_button": [
+              0.1830868273973465,
+              -0.3653795421123504,
+              0.7692328095436096
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021154702299249428
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b68f85128053349a3e038553f4af9eeaa1d6494f4e2363724a8a4ec2873d07f",
+    "visual_seed": 1703941908809957208,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8275783c46d2c661a8b7fc5f2b5d6df8dcad2a51
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_27_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "object_position": [
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+              0.9997458691339829
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+            "current_z": 0.9997458691339829,
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14315936172541732,
+            "gripper_z": 1.000913558033997,
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+            "gripper_position": [
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+              0.00703155690591814,
+              1.000913558033997
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+              0.0046610113252121,
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+            "object_to_gripper_z": -0.0011676889000140633,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.33719892928109046,
+              -0.012991055052108284,
+              0.9997458691339829
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+            "finger_b": [
+              0.32598239726061473,
+              0.01169256823113024,
+              0.9997458691339829
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+            "finger_midpoint": [
+              0.3315906632708526,
+              -0.000649243410489022,
+              0.9997458691339829
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+              0.012341811641619262,
+              0.0
+            ],
+            "finger_gap": 0.027112577320409663,
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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": 0.8288505161019324,
+            "object_to_finger_line_xy": 0.010211668469060981,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048341086058974594,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6644070142882366,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
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+                "left_inner_finger",
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+                "robot",
+                "robotiq_2f85",
+                "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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+                "defaultgroundplane",
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+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+            "max_z_decrease_with_contact_point": 0.007502496242523193,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007502980708962787,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18341733515262607,
+              -0.36754193902015675,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18341733515262607,
+              -0.36754193902015675,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18253476953722608,
+              -0.3680187849162459,
+              0.8073793568816945
+            ],
+            "closest_button": [
+              0.18344593048095703,
+              -0.3675320148468017,
+              0.7724177241325378
+            ],
+            "closest_ee_minus_button": [
+              -0.0009111609437309487,
+              -0.00048677006944419787,
+              0.034961632749156646
+            ],
+            "button_min_z_position": [
+              0.18333229422569275,
+              -0.3675480782985686,
+              0.7693063616752625
+            ],
+            "min_active_finger_to_button": 0.14676630876856173,
+            "closest_active_finger": [
+              0.04171716421842575,
+              -0.3523063659667969,
+              0.8080132007598877
+            ],
+            "closest_active_finger_button": [
+              0.18344160914421082,
+              -0.3675513863563537,
+              0.7730543613433838
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14172444492578506,
+              0.01524502038955683,
+              0.034958839416503906
+            ],
+            "min_contact_pad_to_button": 0.021302091947444438,
+            "closest_contact_pad": [
+              0.18344593048095703,
+              -0.3691776947589129,
+              0.7936561529577653
+            ],
+            "closest_contact_pad_button": [
+              0.18344593048095703,
+              -0.3675320148468017,
+              0.7724177241325378
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016456799121111754,
+              0.021238428825227418
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3717eb50b11973afc5d084e4e550abd2a49ac9df56cbf48bced802499a72ecf6",
+    "visual_seed": 955148128063613543,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..48b18a7d15f96fe327b9bca94633ab20585693d3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_28_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33497066810019094,
+              0.011825818590947317,
+              0.9975611136357854
+            ],
+            "current_z": 0.9975611136357854,
+            "required_z": 0.8565863881992758,
+            "initial_z": 0.7565863881992758,
+            "lift_margin": 0.14097472543650957,
+            "gripper_z": 0.9979714549343396,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33052193649755945,
+              0.007300792416409782,
+              0.9979714549343396
+            ],
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+              0.004448731602631484,
+              0.004525026174537535,
+              -0.00041034129855421764
+            ],
+            "object_to_gripper_xy": 0.006345634306552962,
+            "object_to_gripper_z": -0.00041034129855421764,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33497066810019094,
+              -0.012171735092487113,
+              0.9975611136357854
+            ],
+            "finger_b": [
+              0.3236115057025355,
+              0.011825818590947317,
+              0.9975611136357854
+            ],
+            "finger_midpoint": [
+              0.3292910869013632,
+              -0.00017295825076989787,
+              0.9975611136357854
+            ],
+            "object_minus_finger_midpoint": [
+              0.005679581198827721,
+              0.011998776841717216,
+              0.0
+            ],
+            "finger_gap": 0.026550200623830074,
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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": 0.9975611136357854,
+            "object_top_z": 1.0428632738522983,
+            "finger_top_clearance": 0.0453021602165129,
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+            "object_projection_between_fingers": 0.8169553656406348,
+            "object_to_finger_line_xy": 0.010267045183527633,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868017925194372,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3459552556827448,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18468297142643536,
+              0.30559862215980965,
+              0.7611065080147659
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+            "gripper_position": [
+              0.19006175955678387,
+              0.27498430263762363,
+              1.0372903425379687
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+              0.030614319522186018,
+              -0.27618383452320283
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+            "held_position": [
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+            "held_minus_gripper": [
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+              0.004296742418364308,
+              -0.0006095963431744789
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+            "held_gripper_dist": 0.006361196637622587,
+            "max_held_gripper_dist": 0.00636364662065083,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7611065080147659,
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+            "required_height": 0.7911065080147659,
+            "gripper_z": 1.0372903425379687,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.32667762692759,
+            "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": 1.8346695720194466,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.2029975564341275,
+            "max_source_tilt_deg": 89.64962017973195,
+            "source_upright_tilt_deg": 2.3461244087761726,
+            "max_source_upright_tilt_deg": 89.73497169322174,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 3.2029975564341275,
+            "source_upright_return_tilt_deg": 2.3461244087761726,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.959941750461743e-06,
+            "max_target_xy_drift": 2.0442307757905144e-06,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_a",
+              "raw_target_position": [
+                0.1847,
+                0.3056,
+                0.7611
+              ],
+              "controller_target_position": [
+                0.1847,
+                0.3056,
+                0.7611
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0017,
+                0.0006,
+                -0.0012
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+              "controller_last_pour_pose_position": [
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+                1.0258
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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,
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+                "dummy_base_revolute_z_joint",
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+                "festo",
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+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
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+                "table",
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+            },
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+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3363964053610292,
+              -0.3081375223745696,
+              0.8515395831349873
+            ],
+            "target_position": [
+              0.32743292291155807,
+              -0.3104593290336788,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009259309033845944,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1833735524556439,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395831349873,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564893423592005,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08538526901348019,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15141279236030472,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.44057392106205223,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00749891996383667,
+            "max_z_decrease": 0.00749891996383667,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350473316756331,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00749891996383667,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02128889199709605,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00749891996383667,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007499405959437489,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1831328421831131,
+              -0.36672079563140864,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1831328421831131,
+              -0.36672079563140864,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18393654085122066,
+              -0.3650136671713588,
+              0.806388637150437
+            ],
+            "closest_button": [
+              0.1832212060689926,
+              -0.3666970729827881,
+              0.7713890671730042
+            ],
+            "closest_ee_minus_button": [
+              0.000715334782228072,
+              0.0016834058114292838,
+              0.03499956997743281
+            ],
+            "button_min_z_position": [
+              0.18304778635501862,
+              -0.36672818660736084,
+              0.769309937953949
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+            "min_active_finger_to_button": 0.14451024401139287,
+            "closest_active_finger": [
+              0.057246215641498566,
+              -0.4284185469150543,
+              0.8080126047134399
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+            "closest_active_finger_button": [
+              0.18316239118576047,
+              -0.36673033237457275,
+              0.7730427384376526
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1259161755442619,
+              -0.06168821454048157,
+              0.034969866275787354
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+            "min_contact_pad_to_button": 0.02128889199709605,
+            "closest_contact_pad": [
+              0.18304778635501862,
+              -0.36672818660736084,
+              0.790598829951045
+            ],
+            "closest_contact_pad_button": [
+              0.18304778635501862,
+              -0.36672818660736084,
+              0.769309937953949
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02128889199709605
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0e21a03625c274968302ceeba76197a4c5fe8805ebb87136908cae7026faca13",
+    "visual_seed": 3767354761919173718,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..428c938f7b6d08aa343d1ee0bf92f43f691714c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_29_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007526516914367676,
+            "max_z_decrease": 0.007526516914367676,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500842693578946,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007526516914367676,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021273470119625937,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007526516914367676,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007527426914860383,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1796411424875259,
+              -0.36101916432380665,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1796411424875259,
+              -0.36101916432380665,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18058424195940026,
+              -0.36027312681268586,
+              0.8065567763473089
+            ],
+            "closest_button": [
+              0.1795481145381927,
+              -0.3610356152057647,
+              0.7715719938278198
+            ],
+            "closest_ee_minus_button": [
+              0.0010361274212075666,
+              0.0007624883930788529,
+              0.03498478251948911
+            ],
+            "button_min_z_position": [
+              0.1795243620872497,
+              -0.3610270023345946,
+              0.769282341003418
+            ],
+            "min_active_finger_to_button": 0.14483626049811169,
+            "closest_active_finger": [
+              0.053232669830322266,
+              -0.42233937978744507,
+              0.8079771995544434
+            ],
+            "closest_active_finger_button": [
+              0.17967532575130457,
+              -0.3610365986824035,
+              0.7728806734085083
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1264426559209823,
+              -0.06130278110504156,
+              0.03509652614593506
+            ],
+            "min_contact_pad_to_button": 0.021273470119625937,
+            "closest_contact_pad": [
+              0.1795481145381927,
+              -0.3615496414025982,
+              0.7928392528895698
+            ],
+            "closest_contact_pad_button": [
+              0.1795481145381927,
+              -0.3610356152057647,
+              0.7715719938278198
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005140261968334947,
+              0.021267259061749977
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6f3102c5ebb3fbf52636c520acab8d9df7ce70f9712c0474d71ee54925107f85",
+    "visual_seed": 7626385224499997781,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..33c4f3ae1aaa9f0ef5e4c94600a3e7782ccc75cb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_2_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.33399589456477885,
+              0.006666041989489932,
+              0.9997863968355132
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+            "current_z": 0.9997863968355132,
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+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1431999490315924,
+            "gripper_z": 1.0002425770572339,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.002250300672047012,
+              1.0002425770572339
+            ],
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+              0.00441574131744292,
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+            "object_to_gripper_z": -0.0004561802217206701,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33399589456477885,
+              -0.017400691502534718,
+              0.9997863968355132
+            ],
+            "finger_b": [
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+              0.006666041989489932,
+              0.9997863968355132
+            ],
+            "finger_midpoint": [
+              0.32845902146696226,
+              -0.005367324756522393,
+              0.9997863968355132
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012033366746012325,
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+            ],
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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": 0.010059908797903257,
+            "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": 2.6216428633252526,
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+              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": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.30872208435997445,
+              0.7611063292008317
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+            "gripper_position": [
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+              0.2771122513009835,
+              1.0380293343587628
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+            "target_minus_gripper": [
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+            "held_position": [
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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": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "689efe60da71943611030122c548d3379caa76fb96993df993ec624e08cfd938",
+    "visual_seed": 6353478940477200276,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..345ca80a9a90e2caf855a8664faf9948c5c46c0f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_31_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33548803158694246,
+              0.009284481977111587,
+              0.9999981410936523
+            ],
+            "current_z": 0.9999981410936523,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.14341163368508691,
+            "gripper_z": 1.0008490452368004,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3310025055633292,
+              0.004816634852492924,
+              1.0008490452368004
+            ],
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+              0.00448552602361324,
+              0.004467847124618663,
+              -0.0008509041431481457
+            ],
+            "object_to_gripper_xy": 0.006331003209403298,
+            "object_to_gripper_z": -0.0008509041431481457,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33548803158694246,
+              -0.014830350746855297,
+              0.9999981410936523
+            ],
+            "finger_b": [
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+              0.009284481977111587,
+              0.9999981410936523
+            ],
+            "finger_midpoint": [
+              0.3299108914318988,
+              -0.002772934384871855,
+              0.9999981410936523
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055771401550436805,
+              0.012057416361983441,
+              0.0
+            ],
+            "finger_gap": 0.026569590259183627,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9999981410936523,
+            "object_top_z": 1.0452537187032733,
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+            "fingertip_min_top_clearance": 0.013576673282886337,
+            "object_projection_between_fingers": 0.8237563841075346,
+            "object_to_finger_line_xy": 0.010123739252660106,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868447021246465,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.359010022173542,
+            "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_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18281168360371208,
+              0.30507472713455613,
+              0.7611065676194106
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+            "gripper_position": [
+              0.19028354511719772,
+              0.27454525914209627,
+              1.0391112730431042
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+            "target_minus_gripper": [
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+              0.03052946799245987,
+              -0.2780047054236936
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+            "held_position": [
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+              0.2788104584044284,
+              1.0380376975321803
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+            "held_minus_target": [
+              0.012105577133948109,
+              -0.026264268730127716,
+              0.2769311299127697
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+            "held_minus_gripper": [
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+              0.004265199262332153,
+              -0.0010735755109239076
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+            "xy_dist": 0.03143051272854675,
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+            "held_gripper_dist": 0.006388725191802521,
+            "max_held_gripper_dist": 0.006392061838206993,
+            "held_gripper_threshold": 0.12,
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+            "xy_threshold": 0.15,
+            "target_z": 0.7611065676194106,
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+            "required_height": 0.7911065676194107,
+            "gripper_z": 1.0391112730431042,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.36026849726572,
+            "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": 2.333448172686129,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.172519441691604,
+            "max_source_tilt_deg": 89.96092066853376,
+            "source_upright_tilt_deg": 2.492279512479239,
+            "max_source_upright_tilt_deg": 89.94721392911974,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 3.172519441691604,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.332000937312528e-08,
+            "max_target_xy_drift": 1.3328003749250113e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_a",
+              "raw_target_position": [
+                0.1828,
+                0.3051,
+                0.7611
+              ],
+              "controller_target_position": [
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+                0.3051,
+                0.7611
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                0.0017,
+                0.0011,
+                -0.0002
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+              "controller_last_pour_pose_position": [
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+                0.28,
+                1.027
+              ],
+              "controller_event": 6,
+              "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",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
+                ],
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+                "tilt_position_threshold_m": 0.04,
+                "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_b",
+              "source_return_upright_error_deg": 2.491978081868291,
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+              "wrist_compensated_return_position": -1.6166443824768066
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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_a",
+            "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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+            ],
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+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0011,
+              -0.0002
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
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+              0.28,
+              1.027
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.0645,
+              0.0933
+            ],
+            "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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+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3381166173112987,
+              -0.3071277382367679,
+              0.8515395704519172
+            ],
+            "target_position": [
+              0.33030183374425504,
+              -0.3091927635845798,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00808301749885781,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18543047230113854,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395704519172,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575308069830902,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08723831532021319,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1532324240241183,
+            "release_required_pad_clearance": 0.053619157660106595,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.248619160583446,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007618129253387451,
+            "max_z_decrease": 0.007618129253387451,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035029898729858865,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007618129253387451,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02119980925918452,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007618129253387451,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007618571085927479,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18600176274776456,
+              -0.365454226732254,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18600176274776456,
+              -0.365454226732254,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18656702720560225,
+              -0.36398315940625536,
+              0.8102076522210465
+            ],
+            "closest_button": [
+              0.1859929263591766,
+              -0.36545979976654047,
+              0.7752135992050171
+            ],
+            "closest_ee_minus_button": [
+              0.0005741008464256458,
+              0.0014766403602851086,
+              0.034994053016029425
+            ],
+            "button_min_z_position": [
+              0.18592186272144312,
+              -0.3654728829860686,
+              0.7691907286643982
+            ],
+            "min_active_finger_to_button": 0.14483162669286342,
+            "closest_active_finger": [
+              0.0598132461309433,
+              -0.4272165596485138,
+              0.8081119656562805
+            ],
+            "closest_active_finger_button": [
+              0.18602553009986875,
+              -0.3654726147651671,
+              0.7729787230491638
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12621228396892545,
+              -0.06174394488334667,
+              0.0351332426071167
+            ],
+            "min_contact_pad_to_button": 0.02119980925918452,
+            "closest_contact_pad": [
+              0.18592186272144312,
+              -0.3654728829860686,
+              0.7903905379235827
+            ],
+            "closest_contact_pad_button": [
+              0.18592186272144312,
+              -0.3654728829860686,
+              0.7691907286643982
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02119980925918452
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "451ca33ed8a7aedb35b770898db8b164a001d958a2f337d1d50bccd1ab629cb7",
+    "visual_seed": 3429353813424932008,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f3025e362dd06da6bc2c78ed2adf2ff7f5ede07
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_32_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "object_position": [
+              0.3311382089062942,
+              0.006880095472862129,
+              0.9974099315127164
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+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.14082330489486128,
+            "gripper_z": 0.998272144347297,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3265876063704257,
+              0.002464838264766983,
+              0.998272144347297
+            ],
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+              0.004550602535868475,
+              0.004415257208095146,
+              -0.0008622128345806557
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+            "object_to_gripper_xy": 0.006340542536178488,
+            "object_to_gripper_z": -0.0008622128345806557,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3311382089062942,
+              -0.01746476927909266,
+              0.9974099315127164
+            ],
+            "finger_b": [
+              0.3203097960053784,
+              0.006880095472862129,
+              0.9974099315127164
+            ],
+            "finger_midpoint": [
+              0.3257240024558363,
+              -0.005292336903115266,
+              0.9974099315127164
+            ],
+            "object_minus_finger_midpoint": [
+              0.00541420645045787,
+              0.012172432375977395,
+              0.0
+            ],
+            "finger_gap": 0.02664445469030452,
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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": 1.0427319096985765,
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+            "object_projection_between_fingers": 0.834835790707163,
+            "object_to_finger_line_xy": 0.00989385035705172,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04900228263980906,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.6766525893976114,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint4",
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+                "left_inner_finger",
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+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "defaultgroundplane",
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+                },
+                {
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+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
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+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
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+            "max_z_decrease_with_ee_contact": 0.007591426372528076,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02112038547221795,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007591426372528076,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007591853885294409,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1852679699659347,
+              -0.3641999363899231,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1852679699659347,
+              -0.3641999363899231,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18463839975030186,
+              -0.3628982032193002,
+              0.8090026350455092
+            ],
+            "closest_button": [
+              0.18526403605937952,
+              -0.3641893267631531,
+              0.7740108966827393
+            ],
+            "closest_ee_minus_button": [
+              -0.0006256363090776651,
+              0.0012911235438528568,
+              0.03499173836276992
+            ],
+            "button_min_z_position": [
+              0.18520146608352656,
+              -0.36424541473388666,
+              0.7692174315452576
+            ],
+            "min_active_finger_to_button": 0.1459779934218229,
+            "closest_active_finger": [
+              0.05725521594285965,
+              -0.4247945547103882,
+              0.8084179162979126
+            ],
+            "closest_active_finger_button": [
+              0.18529459834098813,
+              -0.36422148346900934,
+              0.7731136083602905
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12803938239812848,
+              -0.06057307124137884,
+              0.03530430793762207
+            ],
+            "min_contact_pad_to_button": 0.02112038547221795,
+            "closest_contact_pad": [
+              0.18520146608352656,
+              -0.36424541473388666,
+              0.7903378170174755
+            ],
+            "closest_contact_pad_button": [
+              0.18520146608352656,
+              -0.36424541473388666,
+              0.7692174315452576
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02112038547221795
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e0a2eaab07688248246a029b6e534b992dd6ee1c69c5def518ee74d44509d2ec",
+    "visual_seed": 3785563109583972839,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7032347119d10744a62932079f487d4b434c0975
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_33_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33514097168136653,
+              0.014981984103572116,
+              0.9979579797747118
+            ],
+            "current_z": 0.9979579797747118,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14137147236614622,
+            "gripper_z": 0.9981413075745805,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33071768964816917,
+              0.010578473232670943,
+              0.9981413075745805
+            ],
+            "object_minus_gripper": [
+              0.004423282033197362,
+              0.0044035108709011735,
+              -0.0001833277998687377
+            ],
+            "object_to_gripper_xy": 0.006241500775883265,
+            "object_to_gripper_z": -0.0001833277998687377,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33514097168136653,
+              -0.009155994505546796,
+              0.9979579797747118
+            ],
+            "finger_b": [
+              0.3241692284680559,
+              0.014981984103572116,
+              0.9979579797747118
+            ],
+            "finger_midpoint": [
+              0.3296551000747112,
+              0.00291299479901266,
+              0.9979579797747118
+            ],
+            "object_minus_finger_midpoint": [
+              0.005485871606655313,
+              0.012068989304559456,
+              0.0
+            ],
+            "finger_gap": 0.026514546205302286,
+            "fingertip_max_gap": 0.09267746264243895,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9979579797747118,
+            "object_top_z": 1.0432097949942083,
+            "finger_top_clearance": 0.045251815219496505,
+            "fingertip_min_top_clearance": 0.013575544565848934,
+            "object_projection_between_fingers": 0.8287688110869714,
+            "object_to_finger_line_xy": 0.00998831739140521,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04883873132121948,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.6531766863523654,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1818195642914256,
+              0.3092072065638013,
+              0.7611065080147659
+            ],
+            "gripper_position": [
+              0.18902755420944722,
+              0.27866333726077214,
+              1.0395746219727662
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+            "target_minus_gripper": [
+              -0.007207989918021629,
+              0.03054386930302916,
+              -0.2784681139580003
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+            "held_position": [
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+              0.28292789517198225,
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+            "held_minus_target": [
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+              -0.02627931139181905,
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+            "held_minus_gripper": [
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+              0.0042645579112101095,
+              -0.0004068183677166104
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+            "held_gripper_dist": 0.00624330668976119,
+            "max_held_gripper_dist": 0.006246496863952543,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7611065080147659,
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+            "required_height": 0.7911065080147659,
+            "gripper_z": 1.0395746219727662,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.35530977992829,
+            "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": 2.8836894761408285,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.096908710602052,
+            "max_source_tilt_deg": 89.5668804220371,
+            "source_upright_tilt_deg": 2.718142656360938,
+            "max_source_upright_tilt_deg": 89.8738520157979,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 3.096908710602052,
+            "source_upright_return_tilt_deg": 2.718142656360938,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.4901161193847656e-08,
+            "max_target_xy_drift": 8.429369702178807e-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": 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_a",
+              "raw_target_position": [
+                0.1818,
+                0.3092,
+                0.7611
+              ],
+              "controller_target_position": [
+                0.1818,
+                0.3092,
+                0.7611
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                0.0007,
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+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint1",
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+                "joint3",
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+                "joint5",
+                "joint6",
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+                "mobile_rotate",
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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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
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+            },
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/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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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33264637601387026,
+              -0.30488361330974023,
+              0.8515395704934473
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+            "target_position": [
+              0.32369689872714885,
+              -0.3073618026308483,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009286256835603695,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18477911613588707,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395704934473,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551025861694911,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08637901117590228,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15326586661295052,
+            "release_required_pad_clearance": 0.053189505587951144,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4021846454124436,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00757211446762085,
+            "max_z_decrease": 0.00757211446762085,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504692923968443,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00757211446762085,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021147179297382523,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00757211446762085,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00757246470226031,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17939682304859159,
+              -0.3636232614517211,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17939682304859159,
+              -0.3636232614517211,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17848390259255367,
+              -0.36192047199361643,
+              0.8096244684350267
+            ],
+            "closest_button": [
+              0.1794002801179886,
+              -0.3636313676834106,
+              0.7746313214302063
+            ],
+            "closest_ee_minus_button": [
+              -0.0009163775254349138,
+              0.0017108956897941563,
+              0.03499314700482037
+            ],
+            "button_min_z_position": [
+              0.179329976439476,
+              -0.36365216970443714,
+              0.7692367434501648
+            ],
+            "min_active_finger_to_button": 0.14603704526820557,
+            "closest_active_finger": [
+              0.05061624199151993,
+              -0.4227933883666992,
+              0.8081187009811401
+            ],
+            "closest_active_finger_button": [
+              0.17942756414413447,
+              -0.36364236474037165,
+              0.7729673385620117
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12881132215261454,
+              -0.05915102362632757,
+              0.03515136241912842
+            ],
+            "min_contact_pad_to_button": 0.021147179297382523,
+            "closest_contact_pad": [
+              0.179329976439476,
+              -0.36365216970443714,
+              0.7903839227475473
+            ],
+            "closest_contact_pad_button": [
+              0.179329976439476,
+              -0.36365216970443714,
+              0.7692367434501648
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021147179297382523
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d51e2832ca816417b7ad6e9b2eb3910ea9e0aeb0510d777033eda220be2441a8",
+    "visual_seed": 2428391605602420100,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0a1a4185940b3ad35085f4b1a0a59158b908f2a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_34_success.json
@@ -0,0 +1,1682 @@
+{
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+  "success": true,
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+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+            "object_tilt_deg": 0.9739693657937654,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007676362991333008,
+            "max_z_decrease": 0.007676362991333008,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035071449943070966,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007676362991333008,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021146216073318236,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007676362991333008,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007676961736054578,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1818468868732453,
+              -0.3640789687633515,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1818468868732453,
+              -0.3640789687633515,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1798606907802269,
+              -0.36269955724392905,
+              0.8095199234218968
+            ],
+            "closest_button": [
+              0.18184749782085421,
+              -0.3640800714492798,
+              0.7745320200920105
+            ],
+            "closest_ee_minus_button": [
+              -0.001986807040627314,
+              0.0013805142053507358,
+              0.03498790332988633
+            ],
+            "button_min_z_position": [
+              0.18176394701004028,
+              -0.3641270697116852,
+              0.7691324949264526
+            ],
+            "min_active_finger_to_button": 0.14711073280013628,
+            "closest_active_finger": [
+              0.052165038883686066,
+              -0.4239491820335388,
+              0.8079991936683655
+            ],
+            "closest_active_finger_button": [
+              0.1818716675043106,
+              -0.36409372091293335,
+              0.7728554606437683
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12970662862062454,
+              -0.05985546112060547,
+              0.03514373302459717
+            ],
+            "min_contact_pad_to_button": 0.021146216073318236,
+            "closest_contact_pad": [
+              0.18176394701004028,
+              -0.3641270697116852,
+              0.7902787109997709
+            ],
+            "closest_contact_pad_button": [
+              0.18176394701004028,
+              -0.3641270697116852,
+              0.7691324949264526
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021146216073318236
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d96a66e0c159c3b3c88214eb3105f6d5c2f80179dca809f81f658d582daf338c",
+    "visual_seed": 7180364809952329129,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..69ed961aa6b766547ded824bc228b85aa56c6eb3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_35_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33170990120835214,
+              0.017066959979802405,
+              0.9987549045806363
+            ],
+            "current_z": 0.9987549045806363,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.1421684567767154,
+            "gripper_z": 0.9997614236826384,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32712402653403494,
+              0.012497264248440929,
+              0.9997614236826384
+            ],
+            "object_minus_gripper": [
+              0.004585874674317203,
+              0.004569695731361477,
+              -0.0010065191020021125
+            ],
+            "object_to_gripper_xy": 0.006473976027586696,
+            "object_to_gripper_z": -0.0010065191020021125,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33170990120835214,
+              -0.007030987473178156,
+              0.9987549045806363
+            ],
+            "finger_b": [
+              0.3202937817897461,
+              0.017066959979802405,
+              0.9987549045806363
+            ],
+            "finger_midpoint": [
+              0.3260018414990491,
+              0.005017986253312125,
+              0.9987549045806363
+            ],
+            "object_minus_finger_midpoint": [
+              0.005708059709303048,
+              0.01204897372649028,
+              0.0
+            ],
+            "finger_gap": 0.02666531181191186,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013332655905955943,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9987549045806363,
+            "object_top_z": 1.0441343237057819,
+            "finger_top_clearance": 0.04537941912514554,
+            "fingertip_min_top_clearance": 0.013613825737543644,
+            "object_projection_between_fingers": 0.8167079311603707,
+            "object_to_finger_line_xy": 0.010316963394503631,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0487059828405214,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.221331423195493,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18912117797989464,
+              0.30514869649872245,
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+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d856a771f88719c183b415bba72dace6d884b11036aea5ed0419e1057d0730f9",
+    "visual_seed": 7407550219019267623,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef0b03b538951caf1c12313e92052537bc460f33
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_38_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33665107551586165,
+              0.010449678443320594,
+              0.9974520289385265
+            ],
+            "current_z": 0.9974520289385265,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.14086546192531613,
+            "gripper_z": 0.9978973356116202,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33216612725710415,
+              0.0059519714473107305,
+              0.9978973356116202
+            ],
+            "object_minus_gripper": [
+              0.004484948258757504,
+              0.004497706996009864,
+              -0.00044530667309372607
+            ],
+            "object_to_gripper_xy": 0.006351702850865116,
+            "object_to_gripper_z": -0.00044530667309372607,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33665107551586165,
+              -0.013660016830991672,
+              0.9974520289385265
+            ],
+            "finger_b": [
+              0.3254442891075223,
+              0.010449678443320594,
+              0.9974520289385265
+            ],
+            "finger_midpoint": [
+              0.331047682311692,
+              -0.0016051691938355388,
+              0.9974520289385265
+            ],
+            "object_minus_finger_midpoint": [
+              0.005603393204169638,
+              0.012054847637156134,
+              0.0
+            ],
+            "finger_gap": 0.026587016903412357,
+            "fingertip_max_gap": 0.0933914274982445,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9974520289385265,
+            "object_top_z": 1.0431567218522817,
+            "finger_top_clearance": 0.04570469291375523,
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+            "object_projection_between_fingers": 0.822326373794227,
+            "object_to_finger_line_xy": 0.010162561910986242,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04919571374912225,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.328802793645047,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.185266694613882,
+              0.30947450359329653,
+              0.7611063292008318
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+            "gripper_position": [
+              0.1909604937722913,
+              0.27934944625824526,
+              1.037885043441562
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+            "target_minus_gripper": [
+              -0.005693799158409285,
+              0.030125057335051275,
+              -0.2767787142407303
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+            "held_position": [
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+              0.28365640370930056,
+              1.0372390791881416
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+            "held_minus_target": [
+              0.010340605117103219,
+              -0.02581809988399597,
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+            "held_minus_gripper": [
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+              0.004306957451055304,
+              -0.0006459642534204502
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+            "xy_dist": 0.030658415293299632,
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+            "held_gripper_dist": 0.006368670027537248,
+            "max_held_gripper_dist": 0.006371847924945318,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7611063292008318,
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+            "gripper_z": 1.037885043441562,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.33353513685428,
+            "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": 3.150917007988825,
+            "max_source_tilt_deg": 89.96586389504849,
+            "source_upright_tilt_deg": 2.759081727957344,
+            "max_source_upright_tilt_deg": 89.96450781362584,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 3.150917007988825,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.4901161193847656e-08,
+            "max_target_xy_drift": 2.2351741790771484e-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_a",
+              "raw_target_position": [
+                0.1853,
+                0.3095,
+                0.7611
+              ],
+              "controller_target_position": [
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+                0.3095,
+                0.7611
+              ],
+              "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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+                0.0017,
+                -0.0013
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+              "controller_last_pour_pose_position": [
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+                0.2847,
+                1.0264
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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
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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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+                "use_preinterpolated_cartesian_targets": false
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
+              "source_return_upright_error_deg": 2.7591010459379866,
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+              "wrist_compensated_return_position": -1.616172432899475
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_a",
+            "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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+              0.0017,
+              -0.0013
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.2847,
+              1.0264
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0647,
+              0.0941
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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,
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+                "fr3_leftfinger",
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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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+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/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": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33184871698235663,
+              -0.309470568499143,
+              0.8515395630216263
+            ],
+            "target_position": [
+              0.3234822139674228,
+              -0.3114690334746328,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008601873921254354,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18385502810984855,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395630216263,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576772613152821,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08639776388950952,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15159089595557612,
+            "release_required_pad_clearance": 0.053198881944754764,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4204858673369878,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007318437099456787,
+            "max_z_decrease": 0.007318437099456787,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034991120915598,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007318437099456787,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021278594262470966,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007318437099456787,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073189119896286525,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1791821420192718,
+              -0.3677304983139037,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1791821420192718,
+              -0.3677304983139037,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1801952021267449,
+              -0.3667610640159428,
+              0.8070631452788539
+            ],
+            "closest_button": [
+              0.17924728989601135,
+              -0.36771532893180836,
+              0.7720978856086731
+            ],
+            "closest_ee_minus_button": [
+              0.0009479122307335386,
+              0.000954264915865588,
+              0.034965259670180826
+            ],
+            "button_min_z_position": [
+              0.17909891903400418,
+              -0.36773550510406483,
+              0.7694904208183289
+            ],
+            "min_active_finger_to_button": 0.1446554576416404,
+            "closest_active_finger": [
+              0.05281456559896469,
+              -0.4287646412849426,
+              0.8081907033920288
+            ],
+            "closest_active_finger_button": [
+              0.17920587956905365,
+              -0.3677433431148528,
+              0.7731644511222839
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12639131397008896,
+              -0.06102129817008983,
+              0.03502625226974487
+            ],
+            "min_contact_pad_to_button": 0.021278594262470966,
+            "closest_contact_pad": [
+              0.17924728989601135,
+              -0.36802988120437674,
+              0.7933741547988926
+            ],
+            "closest_contact_pad_button": [
+              0.17924728989601135,
+              -0.36771532893180836,
+              0.7720978856086731
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00031455227256838025,
+              0.02127626919021952
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f909c9324d975693ab8572b605b55ec36b994a88672689c6e2c9ff82897b44a9",
+    "visual_seed": 7020044210080467450,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfd13798eeae04fec0b67c2fe8d3b4faa8d07e40
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_39_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33602727687235423,
+              0.00835114302161296,
+              0.9990606465768352
+            ],
+            "current_z": 0.9990606465768352,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.14247425837755923,
+            "gripper_z": 0.9998230908335011,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.331716192137981,
+              0.0039038395370954576,
+              0.9998230908335011
+            ],
+            "object_minus_gripper": [
+              0.0043110847343732495,
+              0.004447303484517502,
+              -0.0007624442566658285
+            ],
+            "object_to_gripper_xy": 0.006193864695837937,
+            "object_to_gripper_z": -0.0007624442566658285,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33602727687235423,
+              -0.015561407895248033,
+              0.9990606465768352
+            ],
+            "finger_b": [
+              0.3247982413737606,
+              0.00835114302161296,
+              0.9990606465768352
+            ],
+            "finger_midpoint": [
+              0.33041275912305745,
+              -0.0036051324368175366,
+              0.9990606465768352
+            ],
+            "object_minus_finger_midpoint": [
+              0.005614517749296777,
+              0.011956275458430497,
+              0.0
+            ],
+            "finger_gap": 0.02641782219601277,
+            "fingertip_max_gap": 0.09283533946301822,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9990606465768352,
+            "object_top_z": 1.0443901650277378,
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+            "fingertip_min_top_clearance": 0.013598855535270765,
+            "object_projection_between_fingers": 0.8193279868021868,
+            "object_to_finger_line_xy": 0.01016415664830565,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048917669731509114,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.598276365249506,
+            "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": {},
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+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007650434970855713,
+            "max_z_decrease": 0.007650434970855713,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035021783410780494,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007650434970855713,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021348516631069004,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007650434970855713,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076510460319821425,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1799167841672897,
+              -0.3626485168933868,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1799167841672897,
+              -0.3626485168933868,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17966085920609495,
+              -0.3638826189864998,
+              0.8078720931855726
+            ],
+            "closest_button": [
+              0.17995126545429224,
+              -0.3626719117164611,
+              0.7728724479675293
+            ],
+            "closest_ee_minus_button": [
+              -0.0002904062481972891,
+              -0.0012107072700386912,
+              0.03499964521804333
+            ],
+            "button_min_z_position": [
+              0.17982794344425196,
+              -0.3626866936683654,
+              0.7691584229469299
+            ],
+            "min_active_finger_to_button": 0.14658642597026436,
+            "closest_active_finger": [
+              0.0387081578373909,
+              -0.3455989360809326,
+              0.8081779479980469
+            ],
+            "closest_active_finger_button": [
+              0.17995126545429224,
+              -0.3626719117164611,
+              0.7728724479675293
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14124310761690134,
+              0.01707297563552851,
+              0.03530550003051758
+            ],
+            "min_contact_pad_to_button": 0.021348516631069004,
+            "closest_contact_pad": [
+              0.17982794344425196,
+              -0.3655586824552511,
+              0.7903128750257485
+            ],
+            "closest_contact_pad_button": [
+              0.17982794344425196,
+              -0.3626866936683654,
+              0.7691584229469299
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028719887868856597,
+              0.02115445207881861
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c1ed2a8801248e04df1bcd9a5b87139957a13966c7c9aed17a2d99963498d990",
+    "visual_seed": 3346069474350060585,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..49170e75355d710627692f8f3bc62e93349a5730
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_3_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33763978961125496,
+              0.007428865848425569,
+              1.000331614465811
+            ],
+            "current_z": 1.000331614465811,
+            "required_z": 0.8565864478039206,
+            "initial_z": 0.7565864478039206,
+            "lift_margin": 0.1437451666618904,
+            "gripper_z": 1.0010786111466448,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3333757755506719,
+              0.0029925431763735133,
+              1.0010786111466448
+            ],
+            "object_minus_gripper": [
+              0.004264014060583077,
+              0.004436322672052056,
+              -0.000746996680833778
+            ],
+            "object_to_gripper_xy": 0.006153273499480847,
+            "object_to_gripper_z": -0.000746996680833778,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33763978961125496,
+              -0.01643292520221788,
+              1.000331614465811
+            ],
+            "finger_b": [
+              0.3264061122525169,
+              0.007428865848425569,
+              1.000331614465811
+            ],
+            "finger_midpoint": [
+              0.33202295093188594,
+              -0.004502029676896155,
+              1.000331614465811
+            ],
+            "object_minus_finger_midpoint": [
+              0.005616838679369018,
+              0.011930895525321724,
+              0.0
+            ],
+            "finger_gap": 0.026373861665383615,
+            "fingertip_max_gap": 0.09276133109747073,
+            "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": 1.000331614465811,
+            "object_top_z": 1.04562569209172,
+            "finger_top_clearance": 0.04529407762590898,
+            "fingertip_min_top_clearance": 0.013588223287772677,
+            "object_projection_between_fingers": 0.8185752869130135,
+            "object_to_finger_line_xy": 0.010163686503913909,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048880665548735366,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.7183421604518827,
+            "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_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18847644943852038,
+              0.3038857038782544,
+              0.7611063292008315
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+            "gripper_position": [
+              0.193656435338544,
+              0.27565751374986264,
+              1.040567877078044
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+            "target_minus_gripper": [
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+              0.028228190128391784,
+              -0.27946154787721245
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+            "held_position": [
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+              0.27996747930917754,
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+            "held_minus_target": [
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+              -0.023918224569076885,
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+            "held_minus_gripper": [
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+              0.004309965559314899,
+              -0.0008986800365782255
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+            "held_gripper_dist": 0.006200325002648881,
+            "max_held_gripper_dist": 0.006203580380055949,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7611063292008315,
+            "held_z": 1.0396691970414658,
+            "required_height": 0.7911063292008316,
+            "gripper_z": 1.040567877078044,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.34010577883583,
+            "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": 2.0858409588618514,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.388343381567729,
+            "max_source_tilt_deg": 89.9672647360018,
+            "source_upright_tilt_deg": 2.6841971284816424,
+            "max_source_upright_tilt_deg": 89.90607985142329,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 2.388343381567729,
+            "source_upright_return_tilt_deg": 2.6841971284816424,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 5.3726900748371916e-08,
+            "max_target_xy_drift": 1.3328003749250113e-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": [],
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+                "gripper",
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+                "panda_joint5",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_festo",
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+                "wrist",
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+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8413896e55423c60b855f8a1d2a63a313dc94bdd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_40_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.013175620455259409,
+              0.9991527132007463
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+            "lift_margin": 0.1425662057921807,
+            "gripper_z": 0.9997692805081249,
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+            "gripper_position": [
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+              0.008723564652727611,
+              0.9997692805081249
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+              0.004307865512825748,
+              0.004452055802531798,
+              -0.0006165673073785793
+            ],
+            "object_to_gripper_xy": 0.00619503883324798,
+            "object_to_gripper_z": -0.0006165673073785793,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3334635575307935,
+              -0.010674278251971675,
+              0.9991527132007463
+            ],
+            "finger_b": [
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+              0.013175620455259409,
+              0.9991527132007463
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+            "finger_midpoint": [
+              0.3278082617697051,
+              0.001250671101643867,
+              0.9991527132007463
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+              0.011924949353615542,
+              0.0
+            ],
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049161860684276124,
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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": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1883301051344356,
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+              0.761106567619411
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+              0.273114392755405,
+              1.0388073819653252
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+              0.004284463539855843,
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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_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": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+              "controller_target_position": [
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "pour_controller_source_pose_held_object": "beaker_b",
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+            "valid_pour_pose_failed_keys": [
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565187589194397,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852531130391244,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15205973060970315,
+            "release_required_pad_clearance": 0.052626556519562204,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.31403502285913787,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00786358118057251,
+            "max_z_decrease": 0.00786358118057251,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035053055326709874,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00786358118057251,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021409443399108243,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.00786358118057251,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007864380289439418,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18713951110839838,
+              -0.3688648045063018,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18713951110839838,
+              -0.3688648045063018,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1857724503497262,
+              -0.3703878517107189,
+              0.8074501913664983
+            ],
+            "closest_button": [
+              0.1871394962072372,
+              -0.3688713908195495,
+              0.7724566459655762
+            ],
+            "closest_ee_minus_button": [
+              -0.00136704585751099,
+              -0.0015164608911694133,
+              0.034993545400922144
+            ],
+            "button_min_z_position": [
+              0.18702870607376096,
+              -0.3688818514347076,
+              0.7689452767372131
+            ],
+            "min_active_finger_to_button": 0.14754295856458088,
+            "closest_active_finger": [
+              0.04451972246170044,
+              -0.354996919631958,
+              0.8078714609146118
+            ],
+            "closest_active_finger_button": [
+              0.18716277182102198,
+              -0.3688831925392151,
+              0.7728135585784912
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14264304935932154,
+              0.01388627290725708,
+              0.035057902336120605
+            ],
+            "min_contact_pad_to_button": 0.021409443399108243,
+            "closest_contact_pad": [
+              0.18702870607376096,
+              -0.3716692252360022,
+              0.7901724954422502
+            ],
+            "closest_contact_pad_button": [
+              0.18702870607376096,
+              -0.3688818514347076,
+              0.7689452767372131
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027873738012946236,
+              0.021227218705037076
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3d522731b5fac4b5d8ecc53c2b7f3c2be7877f56abdc94b6715ec86316930535",
+    "visual_seed": 984654764148892169,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0db4be5eb47bff5f1a152b9eafa947583c1a42dc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_41_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3402732454685285,
+              0.007872151162035188,
+              0.9995349302896263
+            ],
+            "current_z": 0.9995349302896263,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1429484228810607,
+            "gripper_z": 1.0002920447733774,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33571770109996935,
+              0.0032914202730797842,
+              1.0002920447733774
+            ],
+            "object_minus_gripper": [
+              0.00455554436855915,
+              0.004580730888955404,
+              -0.0007571144837511534
+            ],
+            "object_to_gripper_xy": 0.006460346737671373,
+            "object_to_gripper_z": -0.0007571144837511534,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3402732454685285,
+              -0.016228021010994746,
+              0.9995349302896263
+            ],
+            "finger_b": [
+              0.32887249783681205,
+              0.007872151162035188,
+              0.9995349302896263
+            ],
+            "finger_midpoint": [
+              0.33457287165267025,
+              -0.004177934924479779,
+              0.9995349302896263
+            ],
+            "object_minus_finger_midpoint": [
+              0.005700373815858251,
+              0.012050086086514967,
+              0.0
+            ],
+            "finger_gap": 0.026660745400903078,
+            "fingertip_max_gap": 0.09355805015166005,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013330372700451551,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9995349302896263,
+            "object_top_z": 1.045177839227311,
+            "finger_top_clearance": 0.045642908937684745,
+            "fingertip_min_top_clearance": 0.013692872681305424,
+            "object_projection_between_fingers": 0.8171385794578897,
+            "object_to_finger_line_xy": 0.010305787654996448,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04927902507583003,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.549387378335932,
+            "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_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+              0.0,
+              -0.0007873092852958563,
+              0.021221887452636867
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b2aff8fffbcd6ff8c5386715a6647f18b3465676806340622bbb9ea71be75664",
+    "visual_seed": 2802750849872645337,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b20f55997568bd3f78a7ef2ae561ca55bf5d4d7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_42_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.011336399262729384,
+              0.9989039619492415
+            ],
+            "current_z": 0.9989039619492415,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.14231751414532068,
+            "gripper_z": 0.9997229265605971,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3315384955058847,
+              0.006861110418778141,
+              0.9997229265605971
+            ],
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+              0.004475288843951243,
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+            "object_to_gripper_z": -0.0008189646113556659,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3358417979793077,
+              -0.012481748758368914,
+              0.9989039619492415
+            ],
+            "finger_b": [
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+              0.011336399262729384,
+              0.9989039619492415
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+            "finger_midpoint": [
+              0.3301520950645301,
+              -0.0005726747478197649,
+              0.9989039619492415
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+            "object_minus_finger_midpoint": [
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+              0.011909074010549149,
+              0.0
+            ],
+            "finger_gap": 0.026396875803561752,
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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": 0.010267744351925305,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0487593245437415,
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+            "object_max_tilt_deg": 15.0,
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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": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.3077219780252881,
+              0.7611064484101214
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+            "gripper_position": [
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+              0.276419464671636,
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+              0.03130251335365214,
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+              0.004185145847153737,
+              -0.0010409409489169352
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+            "missing_active_wrist_index": false,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_tilt_deg": 3.428250986671675,
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+            "source_upright_tilt_deg": 2.530922323125759,
+            "max_source_upright_tilt_deg": 89.82732050173729,
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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": 3.428250986671675,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.9802322387695312e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              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": 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_a",
+              "raw_target_position": [
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+                0.3077,
+                0.7611
+              ],
+              "controller_target_position": [
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+                0.3077,
+                0.7611
+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
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+              "source_pose_held_object": "beaker_b",
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+              "wrist_compensated_return_position": -1.6164604425430298
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_a",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "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": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3373125847882761,
+              -0.30365538253305663,
+              0.8515395543761485
+            ],
+            "target_position": [
+              0.32909147850329473,
+              -0.30560283949987893,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008448619839156249,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18417628300930225,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395543761485,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568157240408938,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852584218857395,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.152028476050735,
+            "release_required_pad_clearance": 0.05262921094286975,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3189807421681221,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007359325885772705,
+            "max_z_decrease": 0.007359325885772705,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502232022908237,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007359325885772705,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021268543884243374,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007359325885772705,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00735962955200638,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18479140102863312,
+              -0.36186429858207697,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18479140102863312,
+              -0.36186429858207697,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18588645816993313,
+              -0.3605228160184712,
+              0.8080667581583213
+            ],
+            "closest_button": [
+              0.18481467664241788,
+              -0.3618656694889068,
+              0.7730866074562073
+            ],
+            "closest_ee_minus_button": [
+              0.0010717815275152476,
+              0.001342853470435612,
+              0.03498015070211402
+            ],
+            "button_min_z_position": [
+              0.1847250461578369,
+              -0.3618724644184112,
+              0.7694495320320129
+            ],
+            "min_active_finger_to_button": 0.144431448989102,
+            "closest_active_finger": [
+              0.05937333405017853,
+              -0.42428749799728394,
+              0.8082064986228943
+            ],
+            "closest_active_finger_button": [
+              0.18481922149658198,
+              -0.3618767559528351,
+              0.773154079914093
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12544588744640345,
+              -0.06241074204444885,
+              0.03505241870880127
+            ],
+            "min_contact_pad_to_button": 0.021268543884243374,
+            "closest_contact_pad": [
+              0.1847250461578369,
+              -0.3618724644184112,
+              0.7907180759162563
+            ],
+            "closest_contact_pad_button": [
+              0.1847250461578369,
+              -0.3618724644184112,
+              0.7694495320320129
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021268543884243374
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0c0cd93ed1aded5d87d1829ac2c195ced5fd1dd8b88d4de4a85d1d8e3f704189",
+    "visual_seed": 1595914174697382568,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8c030b463d4fed9e1d1458fed7930d6bb7ced52
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_43_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.33103129439451207,
+              0.011236075724738559,
+              0.9974880867930882
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+            "current_z": 0.9974880867930882,
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14090157938452263,
+            "gripper_z": 0.9978932362201566,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3266107926302402,
+              0.006781343334084103,
+              0.9978932362201566
+            ],
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+              0.004420501764271889,
+              0.004454732390654456,
+              -0.0004051494270683742
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+            "object_to_gripper_xy": 0.006275784932602204,
+            "object_to_gripper_z": -0.0004051494270683742,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33103129439451207,
+              -0.012804620197938859,
+              0.9974880867930882
+            ],
+            "finger_b": [
+              0.3198490887950079,
+              0.011236075724738559,
+              0.9974880867930882
+            ],
+            "finger_midpoint": [
+              0.32544019159476,
+              -0.00078427223660015,
+              0.9974880867930882
+            ],
+            "object_minus_finger_midpoint": [
+              0.005591102799752057,
+              0.012020347961338709,
+              0.0
+            ],
+            "finger_gap": 0.02651408649220676,
+            "fingertip_max_gap": 0.0932189329722761,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9974880867930882,
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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": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007489204406738281,
+            "max_z_decrease": 0.007489204406738281,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505055232963399,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007489204406738281,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021384305972871418,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007489204406738281,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007489621816318249,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17937318980693817,
+              -0.36722072958946217,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17937318980693817,
+              -0.36722072958946217,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17824871547837587,
+              -0.368804103385281,
+              0.8081944843119724
+            ],
+            "closest_button": [
+              0.1793963015079498,
+              -0.36724016070365895,
+              0.7731976509094238
+            ],
+            "closest_ee_minus_button": [
+              -0.0011475860295739326,
+              -0.001563942681622077,
+              0.034996833402548555
+            ],
+            "button_min_z_position": [
+              0.1793099343776703,
+              -0.36726817488670344,
+              0.7693196535110474
+            ],
+            "min_active_finger_to_button": 0.1473378589052633,
+            "closest_active_finger": [
+              0.03728970140218735,
+              -0.35055702924728394,
+              0.8083520531654358
+            ],
+            "closest_active_finger_button": [
+              0.1793963015079498,
+              -0.36724016070365895,
+              0.7731976509094238
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14210660010576245,
+              0.01668313145637501,
+              0.03515440225601196
+            ],
+            "min_contact_pad_to_button": 0.021384305972871418,
+            "closest_contact_pad": [
+              0.1793099343776703,
+              -0.37057462909406874,
+              0.7904467901489352
+            ],
+            "closest_contact_pad_button": [
+              0.1793099343776703,
+              -0.36726817488670344,
+              0.7693196535110474
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003306454207365306,
+              0.02112713663788779
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3625e2f334a07f8d712147799c4426e079312d15dba0dcd5b2e57537daf88f0a",
+    "visual_seed": 3866833098614845208,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbea4e08372db4468040510d96b920d058530d04
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_47_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3385768837901012,
+              0.012693905853629277,
+              1.0006005171157157
+            ],
+            "current_z": 1.0006005171157157,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14401400970715017,
+            "gripper_z": 1.0013738339092264,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3339755886507677,
+              0.008156213345010405,
+              1.0013738339092264
+            ],
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+              0.004601295139333494,
+              0.004537692508618872,
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+            "object_to_gripper_xy": 0.006462396634533497,
+            "object_to_gripper_z": -0.00077331679351067,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3385768837901012,
+              -0.011529135101183013,
+              1.0006005171157157
+            ],
+            "finger_b": [
+              0.32734979946030296,
+              0.012693905853629277,
+              1.0006005171157157
+            ],
+            "finger_midpoint": [
+              0.3329633416252021,
+              0.000582385376223132,
+              1.0006005171157157
+            ],
+            "object_minus_finger_midpoint": [
+              0.005613542164899121,
+              0.012111520477406145,
+              0.0
+            ],
+            "finger_gap": 0.026698373277166433,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.010186168299490416,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864720379889119,
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+            "object_tilt_deg": 2.143532361984056,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18061189968247027,
+              0.30659854968056144,
+              0.7611065676194109
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+              0.2764368101207803,
+              1.0375809580012456
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+              0.03016173955978113,
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+            "held_minus_gripper": [
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+              0.0044301768481447845,
+              -0.0009841971747923672
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+            "xy_dist": 0.030728188455494125,
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+            "held_gripper_dist": 0.006510162080703973,
+            "max_held_gripper_dist": 0.006529695744834448,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7611065676194109,
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+            "gripper_z": 1.0375809580012456,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.35375249679753,
+            "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": 2.2155311378361597,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.562926968555788,
+            "max_source_tilt_deg": 89.65192057293744,
+            "source_upright_tilt_deg": 2.6237091368574936,
+            "max_source_upright_tilt_deg": 89.79587586703977,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 2.562926968555788,
+            "source_upright_return_tilt_deg": 2.6237091368574936,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 0.0,
+            "max_target_xy_drift": 0.0,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+                "wrist",
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+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9440f651acf7f7b08d6510a095d1cebc990c93dd83b0e7101d9f672c772d9fbf",
+    "visual_seed": 7813690769865181983,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..86888667e7262b93b7d456d35432c41dca4941b6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_48_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+              0.008572953387905103,
+              0.9995347964973518
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+              0.004150799119151297,
+              1.0002241454667105
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+              0.004422154268753807,
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+              -0.015333608210884175,
+              0.9995347964973518
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+              0.9995347964973518
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+              -0.003380327411489536,
+              0.9995347964973518
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+              0.01195328079939464,
+              0.0
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+              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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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.302974676685185,
+              0.7611063888054764
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+              0.27200015592931004,
+              1.0385092017244637
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+            "max_source_upright_tilt_deg": 89.61268202843226,
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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_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": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "pour_controller_source_pose_held_object": "beaker_b",
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+            "valid_pour_pose_failed_keys": [
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+              0.8515395897990499
+            ],
+            "target_position": [
+              0.3297507986824754,
+              -0.30674669478620886,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007160734986738485,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18323109987419017,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395897990499,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524556295825016,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0875693553163328,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15211740446072647,
+            "release_required_pad_clearance": 0.0537846776581664,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.5784455813136713,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007364094257354736,
+            "max_z_decrease": 0.007364094257354736,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501222533294478,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007364094257354736,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021229203939282827,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007364094257354736,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073646830589762565,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18545071780681605,
+              -0.3630081415176391,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18545071780681605,
+              -0.3630081415176391,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1836899445837168,
+              -0.36268417734392794,
+              0.8060432206363936
+            ],
+            "closest_button": [
+              0.1854011714458465,
+              -0.36300981044769287,
+              0.7710743546485901
+            ],
+            "closest_ee_minus_button": [
+              -0.001711226862129711,
+              0.00032563310376493293,
+              0.034968865987803466
+            ],
+            "button_min_z_position": [
+              0.18535763025283808,
+              -0.3630054891109466,
+              0.7694447636604309
+            ],
+            "min_active_finger_to_button": 0.14727512264626513,
+            "closest_active_finger": [
+              0.05758418142795563,
+              -0.42726513743400574,
+              0.807859480381012
+            ],
+            "closest_active_finger_button": [
+              0.18546475470066065,
+              -0.36302089691162104,
+              0.7730859518051147
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12788057327270502,
+              -0.0642442405223847,
+              0.03477352857589722
+            ],
+            "min_contact_pad_to_button": 0.021229203939282827,
+            "closest_contact_pad": [
+              0.1854011714458465,
+              -0.36372532142382413,
+              0.7922914973388464
+            ],
+            "closest_contact_pad_button": [
+              0.1854011714458465,
+              -0.36300981044769287,
+              0.7710743546485901
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007155109761312617,
+              0.02121714269025632
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d1913cf9a160c791ddc169ab87eb246536666bdeec13d4f3cfd71ef5a97424a0",
+    "visual_seed": 1297998925271928572,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4fa7363c22ce0a980d59e1d667908d06ff10102
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_49_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3382427028010843,
+              0.007083545131245186,
+              1.0009631530832832
+            ],
+            "current_z": 1.0009631530832832,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14437664567471764,
+            "gripper_z": 1.0012935355718775,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3338549314094572,
+              0.002703051032272627,
+              1.0012935355718775
+            ],
+            "object_minus_gripper": [
+              0.004387771391627104,
+              0.004380494098972559,
+              -0.0003303824885942941
+            ],
+            "object_to_gripper_xy": 0.006200102123055286,
+            "object_to_gripper_z": -0.0003303824885942941,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3382427028010843,
+              -0.017080161531493623,
+              1.0009631530832832
+            ],
+            "finger_b": [
+              0.3273712138090249,
+              0.007083545131245186,
+              1.0009631530832832
+            ],
+            "finger_midpoint": [
+              0.3328069583050546,
+              -0.004998308200124219,
+              1.0009631530832832
+            ],
+            "object_minus_finger_midpoint": [
+              0.005435744496029737,
+              0.012081853331369404,
+              0.0
+            ],
+            "finger_gap": 0.026496678897313847,
+            "fingertip_max_gap": 0.092792729529965,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013248339448656936,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0009631530832832,
+            "object_top_z": 1.0462694171137727,
+            "finger_top_clearance": 0.04530626403048954,
+            "fingertip_min_top_clearance": 0.013591879209146862,
+            "object_projection_between_fingers": 0.8316569561722325,
+            "object_to_finger_line_xy": 0.00991427914454398,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048896364764982506,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.592634918681636,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              0.014645487070083618,
+              0.03481447696685791
+            ],
+            "min_contact_pad_to_button": 0.02123889179918743,
+            "closest_contact_pad": [
+              0.18045492470264432,
+              -0.36452554488769123,
+              0.7907372167123228
+            ],
+            "closest_contact_pad_button": [
+              0.18045492470264432,
+              -0.3630625307559967,
+              0.769548773765564
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014630141316945289,
+              0.021188442946758812
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5d755c351269d265065f3bd2a0a90bb064d746f8cc4396c68d88a4e02231aef6",
+    "visual_seed": 1556836739598717607,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3aa89c58bdfda8d6ccfac2bb578c899e5fddfd52
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_4_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33979741298759075,
+              0.011469449456834487,
+              0.9974890690675058
+            ],
+            "current_z": 0.9974890690675058,
+            "required_z": 0.8565866266178549,
+            "initial_z": 0.7565866266178549,
+            "lift_margin": 0.1409024424496509,
+            "gripper_z": 0.9981741930504826,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3354596979661104,
+              0.007043076014615193,
+              0.9981741930504826
+            ],
+            "object_minus_gripper": [
+              0.004337715021480337,
+              0.004426373442219293,
+              -0.0006851239829768208
+            ],
+            "object_to_gripper_xy": 0.006197463469643079,
+            "object_to_gripper_z": -0.0006851239829768208,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33979741298759075,
+              -0.01252047405484915,
+              0.9974890690675058
+            ],
+            "finger_b": [
+              0.328671062343907,
+              0.011469449456834487,
+              0.9974890690675058
+            ],
+            "finger_midpoint": [
+              0.3342342376657489,
+              -0.0005255122990073316,
+              0.9974890690675058
+            ],
+            "object_minus_finger_midpoint": [
+              0.005563175321841862,
+              0.011994961755841818,
+              0.0
+            ],
+            "finger_gap": 0.0264445099924849,
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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": 0.010093599805101312,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04876999950707865,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5234320874503315,
+            "object_max_tilt_deg": 15.0,
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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_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.30855089982017936,
+              0.7611064484101213
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+            "gripper_position": [
+              0.18856311661861966,
+              0.2766005727048385,
+              1.0409460414003986
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+            "target_minus_gripper": [
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+              0.03195032711534085,
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+            "held_position": [
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+              0.28081824113663845,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004217668431799937,
+              -0.0009052077001743264
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+            "held_gripper_dist": 0.006236721357195111,
+            "max_held_gripper_dist": 0.006246404365854879,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7611064484101213,
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+            "required_height": 0.7911064484101213,
+            "gripper_z": 1.0409460414003986,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.34865717567669,
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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": 2.262540695654072,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.166054201521758,
+            "max_source_tilt_deg": 89.92424186741452,
+            "source_upright_tilt_deg": 2.446964414051303,
+            "max_source_upright_tilt_deg": 89.93709860237102,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 3.166054201521758,
+            "source_upright_return_tilt_deg": 2.446964414051303,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.470348358154297e-08,
+            "max_target_xy_drift": 3.5886748369909214e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_a",
+              "raw_target_position": [
+                0.1806,
+                0.3086,
+                0.7611
+              ],
+              "controller_target_position": [
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+                0.3086,
+                0.7611
+              ],
+              "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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+              "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_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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+                "pour_pose_offset_m": [
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
+              "source_return_upright_error_deg": 2.4469678571041342,
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+              "wrist_compensated_return_position": -1.6162060499191284
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+            "pour_controller_workflow_step_index": 1,
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+            "required_stable_lift_frames": 5
+          },
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_a"
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
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+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
+                "desk",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33589643291271465,
+              -0.3047402593712033,
+              0.8515395815062893
+            ],
+            "target_position": [
+              0.32652177329092863,
+              -0.30724952002870204,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009704670631794577,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18645322011380294,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395815062893,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587888736571004,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496537334615188,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15378259303677283,
+            "release_required_pad_clearance": 0.05248268667307594,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956466720014197,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007265806198120117,
+            "max_z_decrease": 0.007265806198120117,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498827789657792,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007265806198120117,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.02122084617443673,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007265806198120117,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007266308507472944,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1822216957807541,
+              -0.36351096630096436,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1822216957807541,
+              -0.36351096630096436,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1816552280362701,
+              -0.36311054314837626,
+              0.8046568260590826
+            ],
+            "closest_button": [
+              0.18214096128940585,
+              -0.3635187149047851,
+              0.7696743011474609
+            ],
+            "closest_ee_minus_button": [
+              -0.00048573325313575055,
+              0.0004081717564088372,
+              0.03498252491162168
+            ],
+            "button_min_z_position": [
+              0.18213665485382083,
+              -0.3635191917419433,
+              0.7695430517196655
+            ],
+            "min_active_finger_to_button": 0.14625354405209393,
+            "closest_active_finger": [
+              0.05509105324745178,
+              -0.4268427789211273,
+              0.8080154061317444
+            ],
+            "closest_active_finger_button": [
+              0.18224528431892398,
+              -0.3635205924510956,
+              0.7731987237930298
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1271542310714722,
+              -0.06332218647003174,
+              0.0348166823387146
+            ],
+            "min_contact_pad_to_button": 0.02122084617443673,
+            "closest_contact_pad": [
+              0.18213665485382083,
+              -0.36423444901820595,
+              0.7907518404495261
+            ],
+            "closest_contact_pad_button": [
+              0.18213665485382083,
+              -0.3635191917419433,
+              0.7695430517196655
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007152572762626486,
+              0.02120878872986054
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3a974002098ae3ba0fd2cbd3f2a322dabf33ca0920a60bf5af1ca96654e8fa71",
+    "visual_seed": 5175944216568404400,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e69fa333866f4d72f2b88f1a059faa9af30cb406
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_50_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3397977380382878,
+              0.008352216182477099,
+              0.9970510415193875
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+            "current_z": 0.9970510415193875,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1404645937154667,
+            "gripper_z": 0.9977535143645919,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33518674745405674,
+              0.0038084714842394063,
+              0.9977535143645919
+            ],
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+              0.004610990584231034,
+              0.004543744698237692,
+              -0.000702472845204416
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+            "object_to_gripper_xy": 0.006473550034612414,
+            "object_to_gripper_z": -0.000702472845204416,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3397977380382878,
+              -0.01583398902657629,
+              0.9970510415193875
+            ],
+            "finger_b": [
+              0.3285097978154416,
+              0.008352216182477099,
+              0.9970510415193875
+            ],
+            "finger_midpoint": [
+              0.3341537679268647,
+              -0.0037408864220495955,
+              0.9970510415193875
+            ],
+            "object_minus_finger_midpoint": [
+              0.005643970111423091,
+              0.012093102604526694,
+              0.0
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+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007716238498687744,
+            "max_z_decrease": 0.007716238498687744,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503714712906647,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007716238498687744,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021277073898582802,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007716238498687744,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077166941827056254,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18735305964946747,
+              -0.36155879497528065,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18735305964946747,
+              -0.36155879497528065,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18741354196514565,
+              -0.36300300022334864,
+              0.8081715504850229
+            ],
+            "closest_button": [
+              0.1873859316110611,
+              -0.3615786433219909,
+              0.773163378238678
+            ],
+            "closest_ee_minus_button": [
+              2.7610354084550703e-05,
+              -0.0014243569013577262,
+              0.03500817224634489
+            ],
+            "button_min_z_position": [
+              0.18730325996875763,
+              -0.3616262674331664,
+              0.7690926194190979
+            ],
+            "min_active_finger_to_button": 0.1463105975782379,
+            "closest_active_finger": [
+              0.04624900966882706,
+              -0.34642842411994934,
+              0.8086264729499817
+            ],
+            "closest_active_finger_button": [
+              0.1873859316110611,
+              -0.3615786433219909,
+              0.773163378238678
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14113692194223404,
+              0.01515021920204157,
+              0.03546309471130371
+            ],
+            "min_contact_pad_to_button": 0.021277073898582802,
+            "closest_contact_pad": [
+              0.18730325996875763,
+              -0.36481498028774156,
+              0.7901293963589435
+            ],
+            "closest_contact_pad_button": [
+              0.18730325996875763,
+              -0.3616262674331664,
+              0.7690926194190979
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003188712854575171,
+              0.021036776939845625
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ded8d6423ffb75d4753ade2ce2bd9e17906a3ee1a78c9bf6a2f3050bc1c4bde6",
+    "visual_seed": 2829321883464888083,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc6778135595180259ee8a28f33b94323e66a559
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_52_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.34054044092995894,
+              0.010110453363508413,
+              0.9984903766066412
+            ],
+            "current_z": 0.9984903766066412,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1419039288027204,
+            "gripper_z": 0.9991958827588912,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3360369128190066,
+              0.005666038508793825,
+              0.9991958827588912
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+              0.004503528110952337,
+              0.004444414854714588,
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+            "object_to_gripper_xy": 0.00632728921789937,
+            "object_to_gripper_z": -0.0007055061522499573,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.34054044092995894,
+              -0.014167853308416262,
+              0.9984903766066412
+            ],
+            "finger_b": [
+              0.3296249832893293,
+              0.010110453363508413,
+              0.9984903766066412
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+              0.33508271210964413,
+              -0.002028699972453925,
+              0.9984903766066412
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+            "object_minus_finger_midpoint": [
+              0.005457728820314811,
+              0.012139153335962338,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.009955540823287212,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0493631613937628,
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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": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1818611981358012,
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+              0.7611065080147659
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+              0.2718175893275209,
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+              0.004382707644985662,
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+            "max_held_gripper_dist": 0.006370315296064533,
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+            "xy_threshold": 0.15,
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+            "gripper_z": 1.0389114978855238,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.37733714000157,
+            "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": 3.224151711552928,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.5669408128893447,
+            "max_source_tilt_deg": 89.6898520450705,
+            "source_upright_tilt_deg": 2.5427485293433665,
+            "max_source_upright_tilt_deg": 89.96925193950509,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": 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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+                "fr3_rightfinger",
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+                "gripper",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_festo",
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+                "robot",
+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a13ea526a0c002c60205ec62ae8edd92a792ea202432e8864025a28c3c56f3bb",
+    "visual_seed": 1881065969219350718,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6225e9703c93e61d6565836ece52aa97961e7caf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_53_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+      "reason": "executed",
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+              0.01046788094493997,
+              0.997228892418967
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+              0.006107412858171263,
+              0.9978846699215074
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+              0.004360468086768708,
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+              0.997228892418967
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+              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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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+              0.2789085781664296,
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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": [],
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+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3322461255945285,
+              -0.30663695722185697,
+              0.8515395723122918
+            ],
+            "target_position": [
+              0.32372734298791006,
+              -0.3088530195533285,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008802305911282093,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18541829279004113,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395723122918,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579718597082133,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0872058418162661,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1529427433855342,
+            "release_required_pad_clearance": 0.05360292090813305,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2163631303538995,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007607698440551758,
+            "max_z_decrease": 0.007607698440551758,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035023131940491274,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007607698440551758,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021046828125406963,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007607698440551758,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007608149626049799,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17942726612091064,
+              -0.3651144802570343,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17942726612091064,
+              -0.3651144802570343,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17784657805721596,
+              -0.36438230725543264,
+              0.8045502830293406
+            ],
+            "closest_button": [
+              0.17933794856071472,
+              -0.3651348948478699,
+              0.7695670127868652
+            ],
+            "closest_ee_minus_button": [
+              -0.0014913705034987623,
+              0.0007525875924372372,
+              0.034983270242475384
+            ],
+            "button_min_z_position": [
+              0.1793457716703415,
+              -0.3651294410228729,
+              0.7692011594772339
+            ],
+            "min_active_finger_to_button": 0.1468685311934189,
+            "closest_active_finger": [
+              0.051903657615184784,
+              -0.42929816246032715,
+              0.8104612231254578
+            ],
+            "closest_active_finger_button": [
+              0.17943346500396729,
+              -0.36512380838394165,
+              0.7759914398193359
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1275298073887825,
+              -0.0641743540763855,
+              0.034469783306121826
+            ],
+            "min_contact_pad_to_button": 0.021046828125406963,
+            "closest_contact_pad": [
+              0.1793457716703415,
+              -0.36536652066242215,
+              0.7902466522817498
+            ],
+            "closest_contact_pad_button": [
+              0.1793457716703415,
+              -0.3651294410228729,
+              0.7692011594772339
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002370796395492203,
+              0.021045492804515953
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "78b3fee085f684ca3afdf81935e6603a88e01703e6fc12f45d61a5edf3d154f2",
+    "visual_seed": 5130262927634766562,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cab2f4e4280e6dd970574826df7d21028736ec2f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_55_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3403018972325986,
+              0.0067577564144455735,
+              0.9986685117809407
+            ],
+            "current_z": 0.9986685117809407,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14208200437237517,
+            "gripper_z": 0.999206799678047,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3358599047059746,
+              0.0021910133485522065,
+              0.999206799678047
+            ],
+            "object_minus_gripper": [
+              0.004441992526624028,
+              0.004566743065893367,
+              -0.0005382878971063043
+            ],
+            "object_to_gripper_xy": 0.006370748765762849,
+            "object_to_gripper_z": -0.0005382878971063043,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3403018972325986,
+              -0.017165565189810803,
+              0.9986685117809407
+            ],
+            "finger_b": [
+              0.32880035835756627,
+              0.0067577564144455735,
+              0.9986685117809407
+            ],
+            "finger_midpoint": [
+              0.33455112779508245,
+              -0.005203904387682615,
+              0.9986685117809407
+            ],
+            "object_minus_finger_midpoint": [
+              0.005750769437516179,
+              0.01196166080212819,
+              0.0
+            ],
+            "finger_gap": 0.02654450438555146,
+            "fingertip_max_gap": 0.09213875335314095,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01327225219277573,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9986685117809407,
+            "object_top_z": 1.0442062985845342,
+            "finger_top_clearance": 0.04553778680359344,
+            "fingertip_min_top_clearance": 0.013661336041078031,
+            "object_projection_between_fingers": 0.8122574720491336,
+            "object_to_finger_line_xy": 0.010365799619186955,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04856937667657048,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8463437446752968,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+              0.7692098617553711
+            ],
+            "min_active_finger_to_button": 0.14599037193305067,
+            "closest_active_finger": [
+              0.061246052384376526,
+              -0.42395681142807007,
+              0.8081833720207214
+            ],
+            "closest_active_finger_button": [
+              0.18856011331081385,
+              -0.3617475628852845,
+              0.7730503678321838
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12731406092643732,
+              -0.06220924854278559,
+              0.0351330041885376
+            ],
+            "min_contact_pad_to_button": 0.021183083652239976,
+            "closest_contact_pad": [
+              0.18845473229885096,
+              -0.3617556691169739,
+              0.7903929454076111
+            ],
+            "closest_contact_pad_button": [
+              0.18845473229885096,
+              -0.3617556691169739,
+              0.7692098617553711
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021183083652239976
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6983cfdfa50bdaccb03d4dd8a84a3d62441fa0829b79e389d579ddc47edb8970",
+    "visual_seed": 5978813642135030682,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c57b7a3c0c3844e061fb400857b1cb10f2b78439
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_56_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.3356609688977248,
+              0.007682682147632109,
+              1.0004111893442096
+            ],
+            "current_z": 1.0004111893442096,
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+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1438247415402888,
+            "gripper_z": 1.0005948671107618,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3313253196587337,
+              0.003335726028719163,
+              1.0005948671107618
+            ],
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+              0.004335649238991102,
+              0.004346956118912946,
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+            "object_to_gripper_xy": 0.006139534332774662,
+            "object_to_gripper_z": -0.00018367776655225931,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3356609688977248,
+              -0.016424243446726914,
+              1.0004111893442096
+            ],
+            "finger_b": [
+              0.3248071493724679,
+              0.007682682147632109,
+              1.0004111893442096
+            ],
+            "finger_midpoint": [
+              0.33023405913509635,
+              -0.004370780649547402,
+              1.0004111893442096
+            ],
+            "object_minus_finger_midpoint": [
+              0.00542690976262844,
+              0.01205346279717951,
+              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": 0.009896955071241728,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048963672567919184,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.30112690289482547,
+              0.7611064484101211
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+            "gripper_position": [
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+              0.2698949513173562,
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+            "held_minus_target": [
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+            "gripper_z": 1.03916683647245,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.36145695018129,
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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": 89.71000529249696,
+            "source_upright_tilt_deg": 2.710924178276819,
+            "max_source_upright_tilt_deg": 89.71043142537593,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 3.143380212834542,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 5.3726900748371916e-08,
+            "max_target_xy_drift": 1.4901161193847656e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_a",
+              "raw_target_position": [
+                0.1855,
+                0.3011,
+                0.7611
+              ],
+              "controller_target_position": [
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+                0.3011,
+                0.7611
+              ],
+              "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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+              "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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+            "required_stable_lift_frames": 5
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/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": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33587721403715987,
+              -0.3058653393149653,
+              0.8515395801581637
+            ],
+            "target_position": [
+              0.3291931321551887,
+              -0.3079795796821721,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007010489493268074,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18335042282551733,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395801581637,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547478281583452,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09007646204222484,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15174720522483276,
+            "release_required_pad_clearance": 0.055038231021112424,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.155243625798451,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007453799247741699,
+            "max_z_decrease": 0.007453799247741699,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035044924404856105,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007453799247741699,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02124206289380859,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007453799247741699,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007454377796424028,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1848930567502975,
+              -0.3642410337924957,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1848930567502975,
+              -0.3642410337924957,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18351714891636367,
+              -0.3627732893887068,
+              0.8064277849085268
+            ],
+            "closest_button": [
+              0.18484528362751004,
+              -0.36426287889480585,
+              0.7714397311210632
+            ],
+            "closest_ee_minus_button": [
+              -0.0013281347111463726,
+              0.001489589506099065,
+              0.03498805378746361
+            ],
+            "button_min_z_position": [
+              0.18480274081230158,
+              -0.3642626702785492,
+              0.769355058670044
+            ],
+            "min_active_finger_to_button": 0.14648279522953803,
+            "closest_active_finger": [
+              0.05686342716217041,
+              -0.42622360587120056,
+              0.8080430030822754
+            ],
+            "closest_active_finger_button": [
+              0.18491064012050623,
+              -0.3642493188381195,
+              0.7731100916862488
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12804721295833582,
+              -0.061974287033081055,
+              0.03493291139602661
+            ],
+            "min_contact_pad_to_button": 0.02124206289380859,
+            "closest_contact_pad": [
+              0.18480274081230158,
+              -0.3642626702785492,
+              0.7905971215638525
+            ],
+            "closest_contact_pad_button": [
+              0.18480274081230158,
+              -0.3642626702785492,
+              0.769355058670044
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02124206289380859
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2c2fee5081943cfea5b3c5561a86f9bad4a515d7c6e94370448e61a7b850043b",
+    "visual_seed": 6328521270093457452,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..27f48116d6e54020791789c48ba4dcaa815f882f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_57_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3348345771035746,
+              0.0055944868245293876,
+              0.9997006017733194
+            ],
+            "current_z": 0.9997006017733194,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.1431139751554643,
+            "gripper_z": 1.000395350771067,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.330575625486467,
+              0.0012976705164290392,
+              1.000395350771067
+            ],
+            "object_minus_gripper": [
+              0.004258951617107598,
+              0.004296816308100348,
+              -0.000694748997747574
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+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007817745208740234,
+            "max_z_decrease": 0.007817745208740234,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034988302298874535,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007817745208740234,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02107477079940666,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007817745208740234,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007818237977314737,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18136763572692866,
+              -0.35995614528656,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18136763572692866,
+              -0.35995614528656,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1814247759197224,
+              -0.3602037294419142,
+              0.8070661433994161
+            ],
+            "closest_button": [
+              0.1813423186540603,
+              -0.36000299453735346,
+              0.7720785140991211
+            ],
+            "closest_ee_minus_button": [
+              8.245726566208367e-05,
+              -0.00020073490456073984,
+              0.034987629300294976
+            ],
+            "button_min_z_position": [
+              0.18131968379020685,
+              -0.3600296676158904,
+              0.7689911127090454
+            ],
+            "min_active_finger_to_button": 0.145955439292049,
+            "closest_active_finger": [
+              0.05396033823490143,
+              -0.4218716621398926,
+              0.8085513114929199
+            ],
+            "closest_active_finger_button": [
+              0.18139043450355524,
+              -0.35997879505157465,
+              0.7734253406524658
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12743009626865381,
+              -0.06189286708831793,
+              0.0351259708404541
+            ],
+            "min_contact_pad_to_button": 0.02107477079940666,
+            "closest_contact_pad": [
+              0.18131968379020685,
+              -0.3614361786487025,
+              0.790018896495315
+            ],
+            "closest_contact_pad_button": [
+              0.18131968379020685,
+              -0.3600296676158904,
+              0.7689911127090454
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014065110328120856,
+              0.02102778378626957
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3b5843893e406708410994be0a4aada42d05bda66b38187522ffc855553490b3",
+    "visual_seed": 4812597796213139879,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b52bab9940e537ccb0fb527afe07c933c4c62521
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_59_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.33634149256753504,
+              0.015825482118983353,
+              0.9972524121970789
+            ],
+            "current_z": 0.9972524121970789,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.14066578557922382,
+            "gripper_z": 0.9980354448784594,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3319511374722603,
+              0.011444189594486523,
+              0.9980354448784594
+            ],
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+              0.004390355095274745,
+              0.00438129252449683,
+              -0.0007830326813804689
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+            "object_to_gripper_xy": 0.006202494824489313,
+            "object_to_gripper_z": -0.0007830326813804689,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.33634149256753504,
+              -0.008330030950361958,
+              0.9972524121970789
+            ],
+            "finger_b": [
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+              0.015825482118983353,
+              0.9972524121970789
+            ],
+            "finger_midpoint": [
+              0.3308950635060549,
+              0.0037477255843106974,
+              0.9972524121970789
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012077756534672655,
+              0.0
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+            "finger_gap": 0.026497984257868624,
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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": 0.009929909165583251,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04889483866059989,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.784233760233728,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.3012585099504896,
+              0.7611063888054764
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+              0.2703331668708212,
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+            "held_minus_gripper": [
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+              0.00423201673751894,
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+            "held_gripper_dist": 0.006252655552638651,
+            "max_held_gripper_dist": 0.006255922301846323,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7611063888054764,
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+            "required_height": 0.7911063888054765,
+            "gripper_z": 1.0398086093483827,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.36895649788997,
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+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "75b6795cab589565cd2da429723357f1d3e03382d30f0e8b689e6ee135a9e426",
+    "visual_seed": 9027245664451293834,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2953d6f04cfc0c62e4701e5f6781037f1cc2c344
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_5_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              0.011523082167161164,
+              0.9991369365971068
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+            "current_z": 0.9991369365971068,
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+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.14255054839783077,
+            "gripper_z": 0.9997641987015369,
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+            "gripper_position": [
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+              0.00718846279302536,
+              0.9997641987015369
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+              0.0043346193741358036,
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+            "object_to_gripper_z": -0.000627262104430093,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3404384087453974,
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+              0.011523082167161164,
+              0.9991369365971068
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+              0.33509847832021644,
+              -0.0006161312002840496,
+              0.9991369365971068
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+              0.012139213367445213,
+              0.0
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+              0.0,
+              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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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7611066272240556
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+              0.2697263302977111,
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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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+            "valid_pour_pose_frames": 0,
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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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+            "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_a",
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+                0.7611
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+              "wrist_joint_name": "wrist_3_joint",
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+            "pour_controller_skill": "pour",
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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",
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+              "wrist_dof_index": 5,
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+            "pour_controller_source_pose_held_object": "beaker_b",
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_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": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33636037798825535,
+              -0.3025538848826941,
+              0.8515394977869195
+            ],
+            "target_position": [
+              0.3286605003488899,
+              -0.3039946998904446,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007833521784469579,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18264889847628937,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394977869195,
+            "min_z": 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": 0.08571530802132914,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15125521340694165,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7579516475682676,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007557094097137451,
+            "max_z_decrease": 0.007557094097137451,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507725368177114,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007557094097137451,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021187644455284427,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007557094097137451,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007557523366203678,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18436042964458466,
+              -0.360256165266037,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18436042964458466,
+              -0.360256165266037,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18242689585478525,
+              -0.3587411688459826,
+              0.8084343409372071
+            ],
+            "closest_button": [
+              0.1843364238739014,
+              -0.3602759838104248,
+              0.7734427452087402
+            ],
+            "closest_ee_minus_button": [
+              -0.0019095280191161468,
+              0.0015348149644421882,
+              0.034991595728466884
+            ],
+            "button_min_z_position": [
+              0.184282660484314,
+              -0.3602771461009979,
+              0.7692517638206482
+            ],
+            "min_active_finger_to_button": 0.14700293831592653,
+            "closest_active_finger": [
+              0.05527544766664505,
+              -0.4211598038673401,
+              0.8080037832260132
+            ],
+            "closest_active_finger_button": [
+              0.1843879669904709,
+              -0.3602767586708069,
+              0.7728886008262634
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12911251932382584,
+              -0.0608830451965332,
+              0.035115182399749756
+            ],
+            "min_contact_pad_to_button": 0.021187644455284427,
+            "closest_contact_pad": [
+              0.184282660484314,
+              -0.3602771461009979,
+              0.7904394082759326
+            ],
+            "closest_contact_pad_button": [
+              0.184282660484314,
+              -0.3602771461009979,
+              0.7692517638206482
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021187644455284427
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e4586821aa08bad6e9fe509378de1d98c37d11572a29a4f6e7e39dfc04234e5",
+    "visual_seed": 1394145365324422340,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..38a8471dd4d44f6e920d13c140ba8029adf2f576
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_60_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.34031049580931405,
+              0.007242768087771136,
+              0.9986601087020814
+            ],
+            "current_z": 0.9986601087020814,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.14207366089816065,
+            "gripper_z": 0.9993522423893593,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3357887691339947,
+              0.0027641119073568143,
+              0.9993522423893593
+            ],
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+              0.00452172667531936,
+              0.004478656180414322,
+              -0.0006921336872778294
+            ],
+            "object_to_gripper_xy": 0.006364304620982411,
+            "object_to_gripper_z": -0.0006921336872778294,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34031049580931405,
+              -0.016953119783328342,
+              0.9986601087020814
+            ],
+            "finger_b": [
+              0.3292093956251689,
+              0.007242768087771136,
+              0.9986601087020814
+            ],
+            "finger_midpoint": [
+              0.33475994571724144,
+              -0.004855175847778603,
+              0.9986601087020814
+            ],
+            "object_minus_finger_midpoint": [
+              0.005550550092072615,
+              0.012097943935549738,
+              0.0
+            ],
+            "finger_gap": 0.026620958194047913,
+            "fingertip_max_gap": 0.09236394021261438,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9986601087020814,
+            "object_top_z": 1.0439439318262769,
+            "finger_top_clearance": 0.04528382312419543,
+            "fingertip_min_top_clearance": 0.01358514693725863,
+            "object_projection_between_fingers": 0.8261059680347497,
+            "object_to_finger_line_xy": 0.010089831227843396,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868197010630719,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2596218148327214,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
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+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007811464484629849,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1869483441114425,
+              -0.3691778481006622,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1869483441114425,
+              -0.3691778481006622,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.186711001284885,
+              -0.3703618660720446,
+              0.8079426722541269
+            ],
+            "closest_button": [
+              0.18698725104331965,
+              -0.3691974878311156,
+              0.7729280591011047
+            ],
+            "closest_ee_minus_button": [
+              -0.0002762497584346546,
+              -0.001164378240928965,
+              0.03501461315302212
+            ],
+            "button_min_z_position": [
+              0.18685013055801386,
+              -0.36919364333152765,
+              0.7689980268478394
+            ],
+            "min_active_finger_to_button": 0.14665361387376935,
+            "closest_active_finger": [
+              0.045721784234046936,
+              -0.3523638844490051,
+              0.8085367679595947
+            ],
+            "closest_active_finger_button": [
+              0.18698725104331965,
+              -0.3691974878311156,
+              0.7729280591011047
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1412654668092727,
+              0.016833603382110485,
+              0.03560870885848999
+            ],
+            "min_contact_pad_to_button": 0.021351813329621404,
+            "closest_contact_pad": [
+              0.18685013055801386,
+              -0.3718650680300996,
+              0.790182063822478
+            ],
+            "closest_contact_pad_button": [
+              0.18685013055801386,
+              -0.36919364333152765,
+              0.7689980268478394
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002671424698571956,
+              0.021184036974638665
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "68144f002f71f2c5ec94add543993a4888dc3efb2e3bcc9edf924065ac91fc52",
+    "visual_seed": 1900844830009387379,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7912d0921e9a3cf3a0463c063f58dfb8ad2ede07
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_61_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33874396826830955,
+              0.013588450521782702,
+              0.9997822745412963
+            ],
+            "current_z": 0.9997822745412963,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14319576713273074,
+            "gripper_z": 0.999911992173478,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33434967432060264,
+              0.009122712058251353,
+              0.999911992173478
+            ],
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+              0.0043942939477069065,
+              0.004465738463531349,
+              -0.00012971763218172505
+            ],
+            "object_to_gripper_xy": 0.006265192680478142,
+            "object_to_gripper_z": -0.00012971763218172505,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33874396826830955,
+              -0.010383663961835087,
+              0.9997822745412963
+            ],
+            "finger_b": [
+              0.32748782477455585,
+              0.013588450521782702,
+              0.9997822745412963
+            ],
+            "finger_midpoint": [
+              0.3331158965214327,
+              0.0016023932799738077,
+              0.9997822745412963
+            ],
+            "object_minus_finger_midpoint": [
+              0.00562807174687685,
+              0.011986057241808894,
+              0.0
+            ],
+            "finger_gap": 0.02648325960239131,
+            "fingertip_max_gap": 0.09288833543982247,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9997822745412963,
+            "object_top_z": 1.0451495089449288,
+            "finger_top_clearance": 0.04536723440363244,
+            "fingertip_min_top_clearance": 0.013610170321089748,
+            "object_projection_between_fingers": 0.8193506653810315,
+            "object_to_finger_line_xy": 0.010188834929214257,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04894416771991124,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4799450609401577,
+            "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_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1861929358925304,
+              0.3061503823564954,
+              0.7611065080147661
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+            "gripper_position": [
+              0.19390508276885526,
+              0.27514254639732455,
+              1.0391425020280802
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+              0.031007835959170837,
+              -0.27803599401331414
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+            "held_position": [
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+              0.27948506021009667,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.00434251381277212,
+              -0.00035113123142171965
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+            "xy_dist": 0.03195251320808515,
+            "held_xy_dist": 0.029330930286907437,
+            "held_gripper_dist": 0.0062671948568309085,
+            "max_held_gripper_dist": 0.0062715807625518556,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7611065080147661,
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+            "required_height": 0.7911065080147661,
+            "gripper_z": 1.0391425020280802,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.36239268609759,
+            "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": 2.078031173712628,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.6183187840759636,
+            "max_source_tilt_deg": 89.67512110428619,
+            "source_upright_tilt_deg": 2.719613108339985,
+            "max_source_upright_tilt_deg": 89.65010169723746,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 2.6183187840759636,
+            "source_upright_return_tilt_deg": 2.719613108339985,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.4901161193847656e-08,
+            "max_target_xy_drift": 1.9082797281243946e-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_a",
+              "raw_target_position": [
+                0.1862,
+                0.3062,
+                0.7611
+              ],
+              "controller_target_position": [
+                0.1862,
+                0.3062,
+                0.7611
+              ],
+              "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,
+                -0.0001
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+              "controller_last_pour_pose_position": [
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+                0.28,
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+              ],
+              "height_range_2": [
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "joint3",
+                "joint4",
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+                "left_inner_finger",
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+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "workbench"
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+            },
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+              "passed": true,
+              "source_missing": false,
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "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_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3357569785243979,
+              -0.30716932964450516,
+              0.8515395743002461
+            ],
+            "target_position": [
+              0.32707726142557636,
+              -0.30905497090871153,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008882180582089783,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18288055886031535,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395743002461,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544400132968236,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08672185582771473,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15138050725929258,
+            "release_required_pad_clearance": 0.05336092791385737,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7381629796326994,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007625281810760498,
+            "max_z_decrease": 0.007625281810760498,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500871405650599,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007625281810760498,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02125893705247332,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007625281810760498,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007625859382930256,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18277718126773831,
+              -0.36531642079353327,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18277718126773831,
+              -0.36531642079353327,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.182703375263833,
+              -0.366370668356608,
+              0.8083776086333564
+            ],
+            "closest_button": [
+              0.1827695667743683,
+              -0.36532121896743763,
+              0.773384690284729
+            ],
+            "closest_ee_minus_button": [
+              -6.619151053527395e-05,
+              -0.0010494493891703427,
+              0.03499291834862739
+            ],
+            "button_min_z_position": [
+              0.18269671499729156,
+              -0.36536473035812367,
+              0.7691835761070251
+            ],
+            "min_active_finger_to_button": 0.14611845588446035,
+            "closest_active_finger": [
+              0.0420214980840683,
+              -0.3485296666622162,
+              0.8084301948547363
+            ],
+            "closest_active_finger_button": [
+              0.18280431628227234,
+              -0.36533439159393305,
+              0.7730974555015564
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14078281819820404,
+              0.016804724931716863,
+              0.03533273935317993
+            ],
+            "min_contact_pad_to_button": 0.02125893705247332,
+            "closest_contact_pad": [
+              0.18269671499729156,
+              -0.367662564960285,
+              0.7903179642160321
+            ],
+            "closest_contact_pad_button": [
+              0.18269671499729156,
+              -0.36536473035812367,
+              0.7691835761070251
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022978346021613194,
+              0.02113438810900692
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d7e38ab2261df8c760c6d1efe5b4b0b0ef46e21785b7d7dedb40b3d0c0c72a79",
+    "visual_seed": 2423739544084541720,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba3d132741f163b00c02ac72a08c3862d3815275
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_62_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007249712944030762,
+            "max_z_decrease": 0.007249712944030762,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498776772078155,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007249712944030762,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021289594804943614,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007249712944030762,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007250531311623173,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18037253618240362,
+              -0.36295184493064875,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18037253618240362,
+              -0.36295184493064875,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18070625469434598,
+              -0.36373461168582655,
+              0.804945639884292
+            ],
+            "closest_button": [
+              0.18026757240295413,
+              -0.3629481494426727,
+              0.7699694633483887
+            ],
+            "closest_ee_minus_button": [
+              0.0004386822913918509,
+              -0.0007864622431538737,
+              0.03497617653590335
+            ],
+            "button_min_z_position": [
+              0.1802637577056885,
+              -0.3629460334777832,
+              0.7695591449737549
+            ],
+            "min_active_finger_to_button": 0.14549091510745038,
+            "closest_active_finger": [
+              0.039869844913482666,
+              -0.3485609292984009,
+              0.8080642223358154
+            ],
+            "closest_active_finger_button": [
+              0.18039101362228396,
+              -0.3629636168479919,
+              0.7732221484184265
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1405211687088013,
+              0.014402687549591009,
+              0.034842073917388916
+            ],
+            "min_contact_pad_to_button": 0.021289594804943614,
+            "closest_contact_pad": [
+              0.18026757240295413,
+              -0.36484476514795783,
+              0.7911744084279013
+            ],
+            "closest_contact_pad_button": [
+              0.18026757240295413,
+              -0.3629481494426727,
+              0.7699694633483887
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001896615705285154,
+              0.02120494507951265
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0d710e08798696e0375695b27560cc2e41197d72914cbaa0093e130d2f0975c6",
+    "visual_seed": 4057084415656366976,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc55f615d0d705ae019c4d75233bff7dad57168a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_63_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3403051078145895,
+              0.009388951885722776,
+              0.9972155189105949
+            ],
+            "current_z": 0.9972155189105949,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14062901150202933,
+            "gripper_z": 0.9978791507547917,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3359884957063538,
+              0.005000210545397565,
+              0.9978791507547917
+            ],
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+              0.004316612108235696,
+              0.0043887413403252105,
+              -0.0006636318441968214
+            ],
+            "object_to_gripper_xy": 0.006155825748447283,
+            "object_to_gripper_z": -0.0006636318441968214,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3403051078145895,
+              -0.014599008177284009,
+              0.9972155189105949
+            ],
+            "finger_b": [
+              0.3292536319111,
+              0.009388951885722776,
+              0.9972155189105949
+            ],
+            "finger_midpoint": [
+              0.33477936986284473,
+              -0.0026050281457806164,
+              0.9972155189105949
+            ],
+            "object_minus_finger_midpoint": [
+              0.005525737951744769,
+              0.011993980031503391,
+              0.0
+            ],
+            "finger_gap": 0.026411310979007025,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9972155189105949,
+            "object_top_z": 1.0424549619105024,
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+            "object_projection_between_fingers": 0.8249102814838044,
+            "object_to_finger_line_xy": 0.01003745565000174,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04884222268119896,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.690456708300524,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18860105294842328,
+              0.30342892368301805,
+              0.7611064484101214
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+            "gripper_position": [
+              0.19487039889054553,
+              0.2730155492966422,
+              1.0385661123397085
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+            "target_minus_gripper": [
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+              0.03041337438637587,
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+            "held_position": [
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+            "held_minus_target": [
+              0.01069892823327051,
+              -0.026175046704804472,
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+            "held_minus_gripper": [
+              0.00442958229114826,
+              0.004238327681571397,
+              -0.0008688455351213431
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6dc0e76acec0030bdcc9ed40fb1f73bfcb119c11f41326adafdf47fbc7ea354c",
+    "visual_seed": 8076983161146772316,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a59a386c65bb9a6e721905b6df43b58a8616d637
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_64_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.33148579334783923,
+              0.013779916789196116,
+              1.000364145503537
+            ],
+            "current_z": 1.000364145503537,
+            "required_z": 0.8565866862224999,
+            "initial_z": 0.7565866862224999,
+            "lift_margin": 0.14377745928103713,
+            "gripper_z": 1.0012317299083728,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.009173345134302471,
+              1.0012317299083728
+            ],
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+              0.004606571654893645,
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+            "object_to_gripper_z": -0.0008675844048358083,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.33148579334783923,
+              -0.010177993809598386,
+              1.000364145503537
+            ],
+            "finger_b": [
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+              0.013779916789196116,
+              1.000364145503537
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+            "finger_midpoint": [
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+              0.0018009614897988649,
+              1.000364145503537
+            ],
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+              0.011978955299397251,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010427372718379749,
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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": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.30553746779426993,
+              0.7611064484101212
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+              0.27408863129237626,
+              1.037981800143405
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+              0.004365640574877594,
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+            "wrist_idx": 5,
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+            "max_wrist_deg": 120.37133340372114,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "max_source_tilt_deg": 89.714667405978,
+            "source_upright_tilt_deg": 2.2150860136502404,
+            "max_source_upright_tilt_deg": 89.96636057044157,
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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": 6.143906154658885e-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,
+            "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_a",
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+                0.3055,
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+              "controller_target_position": [
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+                0.7611
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+              "controller_target_minus_raw_target": [
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+                -0.0,
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+              "pour_pose_offset": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_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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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
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+              "wrist_compensated_return_position": -1.6162188053131104
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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_a",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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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
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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": [
+                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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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "panda_rightfinger",
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+                "right_inner_finger",
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+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
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+                "wrist_1_joint",
+                "wrist_2_joint",
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+              ],
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+                "caster",
+                "defaultgroundplane",
+                "desk",
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+            },
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+            "last_frame": {
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+              "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",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
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+              -0.3075469476597714,
+              0.8515395661233787
+            ],
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+              -0.30909189039993645,
+              0.8084375599031817
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+            "xy_threshold": 0.08,
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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395661233787,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537433022384958,
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+            "release_min_pad_clearance": 0.1547407469685252,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.076703154942016,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007747769355773926,
+            "max_z_decrease": 0.007747769355773926,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035033195880511375,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007747769355773926,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021299336261463957,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007747769355773926,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007748367462556601,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18848532438278204,
+              -0.3653533458709717,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18848532438278204,
+              -0.3653533458709717,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18758455236390112,
+              -0.36629075497101554,
+              0.8079953567132064
+            ],
+            "closest_button": [
+              0.18851928412914282,
+              -0.36537110805511475,
+              0.7729867100715637
+            ],
+            "closest_ee_minus_button": [
+              -0.0009347317652416975,
+              -0.0009196469159007958,
+              0.035008646641642716
+            ],
+            "button_min_z_position": [
+              0.18839223682880407,
+              -0.36537790298461914,
+              0.7690610885620117
+            ],
+            "min_active_finger_to_button": 0.14728243083654213,
+            "closest_active_finger": [
+              0.046423912048339844,
+              -0.34970909357070923,
+              0.808422863483429
+            ],
+            "closest_active_finger_button": [
+              0.18851928412914282,
+              -0.36537110805511475,
+              0.7729867100715637
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14209537208080297,
+              0.015662014484405518,
+              0.035436153411865234
+            ],
+            "min_contact_pad_to_button": 0.021299336261463957,
+            "closest_contact_pad": [
+              0.18839223682880407,
+              -0.36772697333112586,
+              0.7902304908607559
+            ],
+            "closest_contact_pad_button": [
+              0.18839223682880407,
+              -0.36537790298461914,
+              0.7690610885620117
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002349070346506721,
+              0.0211694022987442
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f485ed3c9735bfb5fcc9ab75ec9cf653d25e438a7304eb42c737ba1023664e9",
+    "visual_seed": 979880646900498409,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..db83703836e9dbba72e5580b4a86d00715828753
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_65_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3313287864040477,
+              0.008404619035277089,
+              0.9977411752440788
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+            "current_z": 0.9977411752440788,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14115466783551323,
+            "gripper_z": 0.9986317277407641,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3267780079854209,
+              0.00399680641065929,
+              0.9986317277407641
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+              0.004550778418626833,
+              0.004407812624617799,
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+            "object_to_gripper_z": -0.0008905524966853484,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3313287864040477,
+              -0.015984255714718676,
+              0.9977411752440788
+            ],
+            "finger_b": [
+              0.3205700735592897,
+              0.008404619035277089,
+              0.9977411752440788
+            ],
+            "finger_midpoint": [
+              0.3259494299816687,
+              -0.0037898183397207935,
+              0.9977411752440788
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012194437374997882,
+              0.0
+            ],
+            "finger_gap": 0.02665646476273519,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_top_z": 1.0430535521398971,
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+            "fingertip_min_top_clearance": 0.013593713068745504,
+            "object_projection_between_fingers": 0.8371020838807437,
+            "object_to_finger_line_xy": 0.009843499592968917,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048806052213718684,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4725677728308386,
+            "object_max_tilt_deg": 15.0,
+            "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_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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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",
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+                "wrist_2_joint",
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+                },
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+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+            "contact_point_distance": 0.021175591937901972,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007345438003540039,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007345899450388413,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17927345633506772,
+              -0.36658599972724903,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17927345633506772,
+              -0.36658599972724903,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18001104336137058,
+              -0.3652244153227098,
+              0.8092375377419131
+            ],
+            "closest_button": [
+              0.17927043139934537,
+              -0.36659774184226984,
+              0.7742436528205872
+            ],
+            "closest_ee_minus_button": [
+              0.0007406119620252116,
+              0.0013733265195600697,
+              0.034993884921325935
+            ],
+            "button_min_z_position": [
+              0.1791942119598388,
+              -0.36660835146903986,
+              0.7694634199142456
+            ],
+            "min_active_finger_to_button": 0.14475219784779378,
+            "closest_active_finger": [
+              0.05217917263507843,
+              -0.4262331426143646,
+              0.8083462715148926
+            ],
+            "closest_active_finger_button": [
+              0.17930030822753906,
+              -0.3666063249111175,
+              0.7731602191925049
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12712113559246063,
+              -0.059626817703247126,
+              0.035186052322387695
+            ],
+            "min_contact_pad_to_button": 0.021175591937901972,
+            "closest_contact_pad": [
+              0.1791942119598388,
+              -0.36660835146903986,
+              0.7906390118521476
+            ],
+            "closest_contact_pad_button": [
+              0.1791942119598388,
+              -0.36660835146903986,
+              0.7694634199142456
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021175591937901972
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7c3d8d9aece2d0a664a4638b7340afff7e626172fc044c328f7e55997823e4f8",
+    "visual_seed": 266945711321664386,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..67fd336c10406119ba0663c9a24c4336e90b60ca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_66_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3332787656785115,
+              0.012168981871132774,
+              0.9975454973851113
+            ],
+            "current_z": 0.9975454973851113,
+            "required_z": 0.8565866862225,
+            "initial_z": 0.7565866862225,
+            "lift_margin": 0.14095881116261133,
+            "gripper_z": 0.9984757764862524,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3288158953106163,
+              0.007667790390217033,
+              0.9984757764862524
+            ],
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+              0.004462870367895222,
+              0.004501191480915741,
+              -0.0009302791011410738
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+            "object_to_gripper_xy": 0.006338606839716885,
+            "object_to_gripper_z": -0.0009302791011410738,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3332787656785115,
+              -0.011853017488544214,
+              0.9975454973851113
+            ],
+            "finger_b": [
+              0.3219771324703759,
+              0.012168981871132774,
+              0.9975454973851113
+            ],
+            "finger_midpoint": [
+              0.3276279490744437,
+              0.00015798219129427998,
+              0.9975454973851113
+            ],
+            "object_minus_finger_midpoint": [
+              0.005650816604067799,
+              0.012010999679838494,
+              0.0
+            ],
+            "finger_gap": 0.026547756334717912,
+            "fingertip_max_gap": 0.09261827344167609,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9975454973851113,
+            "object_top_z": 1.0428238244437797,
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+            "object_projection_between_fingers": 0.818771385280718,
+            "object_to_finger_line_xy": 0.01022639436139836,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048809136720838045,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.55641980620163,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.3015029485987134,
+              0.761106508014766
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+            "gripper_position": [
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+              0.2701967619176366,
+              1.0378967334414997
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+              0.0043699811178060655,
+              -0.0011468490010344556
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+            "held_gripper_dist": 0.006407689720102325,
+            "max_held_gripper_dist": 0.006410987276283612,
+            "held_gripper_threshold": 0.12,
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+            "xy_threshold": 0.15,
+            "target_z": 0.761106508014766,
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+            "required_height": 0.791106508014766,
+            "gripper_z": 1.0378967334414997,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.38532846133049,
+            "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": 2.1852034069624375,
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+            "source_tilt_deg": 2.4802270076768522,
+            "max_source_tilt_deg": 89.79810187248856,
+            "source_upright_tilt_deg": 2.7570819719084056,
+            "max_source_upright_tilt_deg": 89.85367944782413,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 2.4802270076768522,
+            "source_upright_return_tilt_deg": 2.7570819719084056,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.4901161193847656e-08,
+            "max_target_xy_drift": 1.0745380149674383e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_a",
+              "raw_target_position": [
+                0.1814,
+                0.3015,
+                0.7611
+              ],
+              "controller_target_position": [
+                0.1814,
+                0.3015,
+                0.7611
+              ],
+              "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,
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+              "controller_last_pour_pose_position": [
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+            "required_stable_lift_frames": 5
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+              "allowed_objects": [
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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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3400340896462207,
+              -0.3043860020071118,
+              0.8515396120619205
+            ],
+            "target_position": [
+              0.3323051417541088,
+              -0.30626783321410733,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007954742246647823,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18421112838526338,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396120619205,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547747422743237,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08638478159829453,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1527209822139728,
+            "release_required_pad_clearance": 0.05319239079914727,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4077555932620225,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 159,
+            "max_placed_release_frames": 159
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007428348064422607,
+            "max_z_decrease": 0.007428348064422607,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502828554538853,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007428348064422607,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021212253066281717,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007428348064422607,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007428877083916616,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18800507485866547,
+              -0.36252927780151367,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18800507485866547,
+              -0.36252927780151367,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18659108860559187,
+              -0.3613814127111481,
+              0.806826485765174
+            ],
+            "closest_button": [
+              0.18796359002590177,
+              -0.36253058910369873,
+              0.7718439698219299
+            ],
+            "closest_ee_minus_button": [
+              -0.0013725014203098962,
+              0.0011491763925506326,
+              0.034982515943244086
+            ],
+            "button_min_z_position": [
+              0.1879167407751083,
+              -0.3625368177890777,
+              0.769380509853363
+            ],
+            "min_active_finger_to_button": 0.14690919586237464,
+            "closest_active_finger": [
+              0.06047920882701874,
+              -0.42662209272384644,
+              0.8106591701507568
+            ],
+            "closest_active_finger_button": [
+              0.1880052387714386,
+              -0.3625331521034241,
+              0.775844931602478
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12752602994441986,
+              -0.06408894062042236,
+              0.03481423854827881
+            ],
+            "min_contact_pad_to_button": 0.021212253066281717,
+            "closest_contact_pad": [
+              0.1879167407751083,
+              -0.3625368177890777,
+              0.7905927629196448
+            ],
+            "closest_contact_pad_button": [
+              0.1879167407751083,
+              -0.3625368177890777,
+              0.769380509853363
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021212253066281717
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "24c7628c0f1a7c70135d452db376798c49449a48b2bd37c1ffe6e7f054b3abab",
+    "visual_seed": 8781317536735337987,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..05ea0c1ba3c73aba5b2664253eeeae52df77bae7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_67_success.json
@@ -0,0 +1,1682 @@
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007430672645568848,
+            "max_z_decrease": 0.007430672645568848,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500478494311995,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007430672645568848,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02134880322050793,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007430672645568848,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007431266881601071,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1826332062482834,
+              -0.3654634654521942,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1826332062482834,
+              -0.3654634654521942,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18353383924682382,
+              -0.3657247880797286,
+              0.8074642832042804
+            ],
+            "closest_button": [
+              0.18260227143764496,
+              -0.36547344923019404,
+              0.7724727988243103
+            ],
+            "closest_ee_minus_button": [
+              0.0009315678091788571,
+              -0.00025133884953454366,
+              0.03499148437997013
+            ],
+            "button_min_z_position": [
+              0.18253926932811737,
+              -0.3654607534408569,
+              0.7693781852722168
+            ],
+            "min_active_finger_to_button": 0.14508995286370735,
+            "closest_active_finger": [
+              0.042766451835632324,
+              -0.3496280908584595,
+              0.8081367015838623
+            ],
+            "closest_active_finger_button": [
+              0.18264850974082947,
+              -0.36547315120697016,
+              0.7730220556259155
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13988205790519714,
+              0.015845060348510687,
+              0.03511464595794678
+            ],
+            "min_contact_pad_to_button": 0.02134880322050793,
+            "closest_contact_pad": [
+              0.1825583130121231,
+              -0.36687107555092785,
+              0.7910474304679856
+            ],
+            "closest_contact_pad_button": [
+              0.1825583130121231,
+              -0.3654621243476867,
+              0.7697451710700989
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014089512032411378,
+              0.02130225939788677
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d0bc4be665d1152ea7a0c8816d0c1dbb1785ce74a9cb70abdc949eaff9b427c1",
+    "visual_seed": 8379018427668986283,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..385bf05099e4c662e2c9e19b76be906dc0f1f12d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_68_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.33508667937336967,
+              0.010356551494390059,
+              1.000354253703023
+            ],
+            "current_z": 1.000354253703023,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14376774629445743,
+            "gripper_z": 1.0011312882046928,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33072887418434127,
+              0.005858083118948559,
+              1.0011312882046928
+            ],
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+              0.004357805189028396,
+              0.004498468375441499,
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+            "object_to_gripper_xy": 0.0062631209305241825,
+            "object_to_gripper_z": -0.0007770345016697711,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33508667937336967,
+              -0.013523453460815904,
+              1.000354253703023
+            ],
+            "finger_b": [
+              0.32370442825961776,
+              0.010356551494390059,
+              1.000354253703023
+            ],
+            "finger_midpoint": [
+              0.3293955538164937,
+              -0.0015834509832129227,
+              1.000354253703023
+            ],
+            "object_minus_finger_midpoint": [
+              0.005691125556875953,
+              0.011940002477602981,
+              0.0
+            ],
+            "finger_gap": 0.026453927441443696,
+            "fingertip_max_gap": 0.09244338892780776,
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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": 1.000354253703023,
+            "object_top_z": 1.045668602547334,
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+            "object_projection_between_fingers": 0.8148703374897416,
+            "object_to_finger_line_xy": 0.01027477729344527,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048721694463903883,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.390010024604347,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1899392070259533,
+              0.30335227210983695,
+              0.7611064484101212
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+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b268a699c430e6ef629e7fb39f60bb04ffafce5eb00e7af57280978dd2b8381",
+    "visual_seed": 9096652698548285434,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8107e372b40d93e457acb6485ec1bdaaa483f2e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_69_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3311953421241738,
+              0.010200764371090233,
+              1.0006832497183218
+            ],
+            "current_z": 1.0006832497183218,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14409674230975622,
+            "gripper_z": 1.0010213224261288,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3268806233187797,
+              0.005741909939099177,
+              1.0010213224261288
+            ],
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+              0.00431471880539408,
+              0.004458854431991056,
+              -0.0003380727078070578
+            ],
+            "object_to_gripper_xy": 0.006204690259417274,
+            "object_to_gripper_z": -0.0003380727078070578,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3311953421241738,
+              -0.013643199944564605,
+              1.0006832497183218
+            ],
+            "finger_b": [
+              0.31986165782547427,
+              0.010200764371090233,
+              1.0006832497183218
+            ],
+            "finger_midpoint": [
+              0.325528499974824,
+              -0.0017212177867371864,
+              1.0006832497183218
+            ],
+            "object_minus_finger_midpoint": [
+              0.00566684214934976,
+              0.011921982157827419,
+              0.0
+            ],
+            "finger_gap": 0.02640051200391404,
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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": 0.013594851467115908,
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+            "object_to_finger_line_xy": 0.010236163751029675,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0488986019442504,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.30885226090416384,
+              0.7611063292008315
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+            "gripper_position": [
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+              0.27775387383625694,
+              1.0395889301042456
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+              0.2820096241040151,
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+            "held_minus_target": [
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+              0.004255750267758152,
+              -0.0005556669121264957
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+            "max_held_gripper_dist": 0.006217972114942336,
+            "held_gripper_threshold": 0.12,
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+            "required_height": 0.7911063292008316,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.35063110034683,
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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": 89.667624544271,
+            "source_upright_tilt_deg": 2.5262565845016227,
+            "max_source_upright_tilt_deg": 89.64121435094022,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 2.961736331390074,
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+            "target_xy_drift": 2.0701354726329154e-07,
+            "max_target_xy_drift": 2.827296549232345e-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",
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+              "source_name": "beaker",
+              "target_object": "beaker_a",
+              "raw_target_position": [
+                0.1827,
+                0.3089,
+                0.7611
+              ],
+              "controller_target_position": [
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+                0.3089,
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+              ],
+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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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_b",
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+              "wrist_compensated_return_position": -1.6163877248764038
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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_a",
+            "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_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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+              0.0935
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
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+                "fr3_leftfinger",
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+                "left_inner_finger",
+                "lift2",
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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",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/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": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33907967998133526,
+              -0.30383926564136865,
+              0.8515396025665807
+            ],
+            "target_position": [
+              0.33274351135274166,
+              -0.30512043321138577,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006464396586877791,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18251979632127055,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396025665807,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582952247379594,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08510966536358032,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15009697865545313,
+            "release_required_pad_clearance": 0.05255483268179016,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.17693863015893854,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007831156253814697,
+            "max_z_decrease": 0.007831156253814697,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035006016080958866,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007831156253814697,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021134353249685184,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007831156253814697,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007831737715891162,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18844343721866605,
+              -0.36138188838958735,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18844343721866605,
+              -0.36138188838958735,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18951967978469203,
+              -0.36130267098025376,
+              0.8070715487269681
+            ],
+            "closest_button": [
+              0.1884386986494064,
+              -0.36140897870063776,
+              0.7720823884010315
+            ],
+            "closest_ee_minus_button": [
+              0.0010809811352856247,
+              0.00010630772038400238,
+              0.034989160325936575
+            ],
+            "button_min_z_position": [
+              0.18836314976215357,
+              -0.36143347620964045,
+              0.768977701663971
+            ],
+            "min_active_finger_to_button": 0.14499035708198435,
+            "closest_active_finger": [
+              0.06309844553470612,
+              -0.42518350481987,
+              0.8080726861953735
+            ],
+            "closest_active_finger_button": [
+              0.18846663832664487,
+              -0.36140435934066767,
+              0.772898256778717
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12536819279193875,
+              -0.06377914547920233,
+              0.035174429416656494
+            ],
+            "min_contact_pad_to_button": 0.021134353249685184,
+            "closest_contact_pad": [
+              0.18836314976215357,
+              -0.3623452571402765,
+              0.7900923776694655
+            ],
+            "closest_contact_pad_button": [
+              0.18836314976215357,
+              -0.36143347620964045,
+              0.768977701663971
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009117809306360414,
+              0.021114676005494548
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "797e383917c5701e515a26400f920c1a228021c961cf1e7b10ee0eda0f3a9b90",
+    "visual_seed": 3458500253725745808,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed3eadb163904b9f8c5024c5fff0aa2d7611e848
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_6_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3359080091144927,
+              0.007984118166232203,
+              1.0011171317875722
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+            "current_z": 1.0011171317875722,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14453062437900666,
+            "gripper_z": 1.0013573350640814,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33150557704083605,
+              0.003563460456258355,
+              1.0013573350640814
+            ],
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+              0.004402432073656648,
+              0.0044206577099738485,
+              -0.00024020327650919882
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+            "object_to_gripper_xy": 0.006238879927672274,
+            "object_to_gripper_z": -0.00024020327650919882,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3359080091144927,
+              -0.016088883780014433,
+              1.0011171317875722
+            ],
+            "finger_b": [
+              0.3248358593733413,
+              0.007984118166232203,
+              1.0011171317875722
+            ],
+            "finger_midpoint": [
+              0.330371934243917,
+              -0.004052382806891115,
+              1.0011171317875722
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055360748705757246,
+              0.012036500973123318,
+              0.0
+            ],
+            "finger_gap": 0.02649720593939054,
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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": 1.0465153988307792,
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+            "fingertip_min_top_clearance": 0.013619480112962096,
+            "object_projection_between_fingers": 0.8253921603896718,
+            "object_to_finger_line_xy": 0.010059169365915487,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04890567091511251,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4665051769911175,
+            "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
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+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007811605930328369,
+            "max_z_decrease": 0.007811605930328369,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504565281811293,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007811605930328369,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02120977509560107,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007811605930328369,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007812289483374185,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18682169914245605,
+              -0.3689539730548858,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18682169914245605,
+              -0.3689539730548858,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1877025338325777,
+              -0.36750431195506245,
+              0.8093950268035579
+            ],
+            "closest_button": [
+              0.1868135929107666,
+              -0.3689593076705932,
+              0.7743908762931824
+            ],
+            "closest_ee_minus_button": [
+              0.0008889409218111044,
+              0.0014549957155307602,
+              0.03500415051037553
+            ],
+            "button_min_z_position": [
+              0.18671925365924832,
+              -0.3689675629138946,
+              0.7689972519874573
+            ],
+            "min_active_finger_to_button": 0.14463960438762888,
+            "closest_active_finger": [
+              0.06050615757703781,
+              -0.42985114455223083,
+              0.8082815408706665
+            ],
+            "closest_active_finger_button": [
+              0.18684858083724976,
+              -0.368968516588211,
+              0.7729048132896423
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12634242326021194,
+              -0.06088262796401983,
+              0.03537672758102417
+            ],
+            "min_contact_pad_to_button": 0.02120977509560107,
+            "closest_contact_pad": [
+              0.1867277771234512,
+              -0.368964821100235,
+              0.7909753309542131
+            ],
+            "closest_contact_pad_button": [
+              0.1867277771234512,
+              -0.368964821100235,
+              0.7697655558586121
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02120977509560107
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "43262b76967be1162396242f203cdaa9b663d37d945a718381f94437e0367062",
+    "visual_seed": 4488867191678706943,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b3bc72eddec65ca8aecc96c5f44af0467ed19c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_70_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3363001047326459,
+              0.00992176587466417,
+              0.998739853835676
+            ],
+            "current_z": 0.998739853835676,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14215334642711042,
+            "gripper_z": 0.999297816405315,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3320272807834912,
+              0.005493342126566214,
+              0.999297816405315
+            ],
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+              0.0042728239491546804,
+              0.004428423748097956,
+              -0.0005579625696390256
+            ],
+            "object_to_gripper_xy": 0.0061536949382617065,
+            "object_to_gripper_z": -0.0005579625696390256,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3363001047326459,
+              -0.013914721894027177,
+              0.998739853835676
+            ],
+            "finger_b": [
+              0.32502635532275714,
+              0.00992176587466417,
+              0.998739853835676
+            ],
+            "finger_midpoint": [
+              0.3306632300277015,
+              -0.0019964780096815033,
+              0.998739853835676
+            ],
+            "object_minus_finger_midpoint": [
+              0.005636874704944395,
+              0.011918243884345673,
+              0.0
+            ],
+            "finger_gap": 0.026368078710894707,
+            "fingertip_max_gap": 0.0931301240463708,
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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": 0.998739853835676,
+            "object_top_z": 1.0442636528622093,
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+            "fingertip_min_top_clearance": 0.013657139707959991,
+            "object_projection_between_fingers": 0.8171984888516661,
+            "object_to_finger_line_xy": 0.010191360275524074,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049065062023185405,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.559046747844793,
+            "object_max_tilt_deg": 15.0,
+            "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_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1840410145010432,
+              0.3002202268408246,
+              0.7611063888054764
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+            "gripper_position": [
+              0.19006395033017445,
+              0.2726431619849563,
+              1.040022522841926
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+            "target_minus_gripper": [
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+            "held_position": [
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+            "held_minus_target": [
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+              0.004310054196710433,
+              -0.0007055631180146182
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+            "held_gripper_dist": 0.006179424142316793,
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7611063888054764,
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+            "required_height": 0.7911063888054765,
+            "gripper_z": 1.040022522841926,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.33746932581622,
+            "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": 1.8816031170580725,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.321586892828042,
+            "max_source_tilt_deg": 89.89840441989948,
+            "source_upright_tilt_deg": 2.8662311716575486,
+            "max_source_upright_tilt_deg": 89.98697707624339,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 2.321586892828042,
+            "source_upright_return_tilt_deg": 2.8662311716575486,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.2146848510894035e-08,
+            "max_target_xy_drift": 1.2644054553268208e-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": {},
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+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2220435aa271411a537bda9d5957aeee53fac560
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_72_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+              0.33153279152695275,
+              0.006994243964341201,
+              0.997215563033627
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+            "current_z": 0.997215563033627,
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+            "lift_margin": 0.140629174834351,
+            "gripper_z": 0.9980997281809849,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.002531386954617368,
+              0.9980997281809849
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+              0.004293611224319427,
+              0.0044628570097238335,
+              -0.000884165147357896
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+            "object_to_gripper_xy": 0.006192914502465129,
+            "object_to_gripper_z": -0.000884165147357896,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.33153279152695275,
+              -0.01683456796948471,
+              0.997215563033627
+            ],
+            "finger_b": [
+              0.3201955251749169,
+              0.006994243964341201,
+              0.997215563033627
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+            "finger_midpoint": [
+              0.32586415835093485,
+              -0.004920162002571754,
+              0.997215563033627
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+              0.011914405966912955,
+              0.0
+            ],
+            "finger_gap": 0.02638836649955144,
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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": 0.04859673589685602,
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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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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.3038391824530073,
+              0.7611064484101212
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+              0.27442869388187785,
+              1.0373010917880234
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+              0.029410488571129434,
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+              0.004268468111468082,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.76916374640737,
+            "source_upright_tilt_deg": 2.2626997247062537,
+            "max_source_upright_tilt_deg": 89.969058357122,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
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+            "missing_end_effector_orientation_samples": 0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_a",
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+              "controller_target_position": [
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+              "wrist_joint_name": "wrist_3_joint",
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+                "pour_speed_rad_s": -1.5,
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+              "source_pose_held_object": "beaker_b",
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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_pose_failed_keys": [
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540550544307949,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08880851463285731,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15360872701159137,
+            "release_required_pad_clearance": 0.05440425731642866,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.834280299579054,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007467091083526611,
+            "max_z_decrease": 0.007467091083526611,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502921636399103,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007467091083526611,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021095092065294918,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007467091083526611,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007467368045622208,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18083466589450833,
+              -0.36854547262191767,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18083466589450833,
+              -0.36854547262191767,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18054042281059574,
+              -0.3671809259347382,
+              0.8050211942697867
+            ],
+            "closest_button": [
+              0.1807526051998138,
+              -0.3685612976551056,
+              0.7700198292732239
+            ],
+            "closest_ee_minus_button": [
+              -0.00021218238921805188,
+              0.0013803717203673682,
+              0.03500136499656281
+            ],
+            "button_min_z_position": [
+              0.18077197670936582,
+              -0.3685598373413086,
+              0.769341766834259
+            ],
+            "min_active_finger_to_button": 0.14558032541956356,
+            "closest_active_finger": [
+              0.054520584642887115,
+              -0.4321337342262268,
+              0.810969352722168
+            ],
+            "closest_active_finger_button": [
+              0.1808425188064575,
+              -0.36855629086494446,
+              0.7764105796813965
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12632193416357038,
+              -0.06357744336128235,
+              0.034558773040771484
+            ],
+            "min_contact_pad_to_button": 0.021095092065294918,
+            "closest_contact_pad": [
+              0.18077197670936582,
+              -0.3685598373413086,
+              0.790436858899554
+            ],
+            "closest_contact_pad_button": [
+              0.18077197670936582,
+              -0.3685598373413086,
+              0.769341766834259
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021095092065294918
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "238f2d0cf5fb283b10615fa802004f879357e49cd0d8fa2ecb9b8466526201f1",
+    "visual_seed": 8729537148764553116,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d13d789a91424d3643d94cc11ca1031ac8e4c0c9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_73_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33091217709221415,
+              0.007988288446667546,
+              0.998285834707838
+            ],
+            "current_z": 0.998285834707838,
+            "required_z": 0.8565863881992761,
+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.14169944650856192,
+            "gripper_z": 0.9987172184167,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3264877113508645,
+              0.0035825647460802773,
+              0.9987172184167
+            ],
+            "object_minus_gripper": [
+              0.004424465741349637,
+              0.004405723700587269,
+              -0.0004313837088619765
+            ],
+            "object_to_gripper_xy": 0.006243900897859684,
+            "object_to_gripper_z": -0.0004313837088619765,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33091217709221415,
+              -0.016154066709806007,
+              0.998285834707838
+            ],
+            "finger_b": [
+              0.3199310501312678,
+              0.007988288446667546,
+              0.998285834707838
+            ],
+            "finger_midpoint": [
+              0.325421613611741,
+              -0.0040828891315692305,
+              0.998285834707838
+            ],
+            "object_minus_finger_midpoint": [
+              0.005490563480473165,
+              0.012071177578236777,
+              0.0
+            ],
+            "finger_gap": 0.02652241432889788,
+            "fingertip_max_gap": 0.09263311256113424,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01326120716444894,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.998285834707838,
+            "object_top_z": 1.0435366411675653,
+            "finger_top_clearance": 0.04525080645972723,
+            "fingertip_min_top_clearance": 0.013575241937918186,
+            "object_projection_between_fingers": 0.8285775432038784,
+            "object_to_finger_line_xy": 0.009995706417293922,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04881655628056712,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.6223670506465533,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
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+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f372e4a428500655b7223c125e4f6f9d3e9305f271eed4eb43d15b192dff9539",
+    "visual_seed": 7254695900663714328,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8300671a1c1d1b892b078be11a0ce7d19b7aaa03
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_74_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3360950192775771,
+              0.013273707601606328,
+              0.9980324680546577
+            ],
+            "current_z": 0.9980324680546577,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.14144602025073694,
+            "gripper_z": 0.9988672605256077,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33158291851755184,
+              0.008773762072569344,
+              0.9988672605256077
+            ],
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+              0.004512100760025284,
+              0.004499945529036984,
+              -0.0008347924709499743
+            ],
+            "object_to_gripper_xy": 0.00637248483975605,
+            "object_to_gripper_z": -0.0008347924709499743,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3360950192775771,
+              -0.01083026347899147,
+              0.9980324680546577
+            ],
+            "finger_b": [
+              0.3248525777716433,
+              0.013273707601606328,
+              0.9980324680546577
+            ],
+            "finger_midpoint": [
+              0.33047379852461023,
+              0.0012217220613074294,
+              0.9980324680546577
+            ],
+            "object_minus_finger_midpoint": [
+              0.005621220752966893,
+              0.012051985540298899,
+              0.0
+            ],
+            "finger_gap": 0.026596877878214183,
+            "fingertip_max_gap": 0.09231412478290471,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9980324680546577,
+            "object_top_z": 1.043333326089618,
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+            "fingertip_min_top_clearance": 0.013590257410488077,
+            "object_projection_between_fingers": 0.8213265781411739,
+            "object_to_finger_line_xy": 0.010188695311351208,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04865706239145236,
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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": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18060863632816881,
+              0.30928272564873177,
+              0.7611063292008314
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+            "gripper_position": [
+              0.18700388627420547,
+              0.2799188729573095,
+              1.0396874382213936
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+            "target_minus_gripper": [
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+              0.029363852691422276,
+              -0.2785811090205622
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+              0.2843133966696972,
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+            "held_minus_target": [
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+              0.2775457040939632
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+              0.004394523712387688,
+              -0.0010354049265990373
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+            "held_gripper_dist": 0.006427538292409906,
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.7911063292008315,
+            "gripper_z": 1.0396874382213936,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.33725758995195,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+              0.0,
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.475850380253039,
+            "max_source_tilt_deg": 89.90881574665413,
+            "source_upright_tilt_deg": 2.7309611300228083,
+            "max_source_upright_tilt_deg": 89.95379257588746,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 2.475850380253039,
+            "source_upright_return_tilt_deg": 2.7309611300228083,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.332000937312528e-08,
+            "max_target_xy_drift": 1.4901161193847656e-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_a",
+              "raw_target_position": [
+                0.1806,
+                0.3093,
+                0.7611
+              ],
+              "controller_target_position": [
+                0.1806,
+                0.3093,
+                0.7611
+              ],
+              "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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+                0.002,
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+                0.4
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+              "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,
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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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+                "approach_xy_threshold_m": 0.08,
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
+              "source_return_upright_error_deg": 2.730960285601882,
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+              "source_return_effective_target_deg": 8.0,
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+              "wrist_compensated_return_position": -1.6156814098358154
+            },
+            "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_a",
+            "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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+              0.002,
+              0.0012
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+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/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": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3359562277025824,
+              -0.30612829400876646,
+              0.8515395806917877
+            ],
+            "target_position": [
+              0.3271430370160002,
+              -0.30845382560539875,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009114846531071903,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1851181708438887,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395806917877,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757768995642885,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08603166882832335,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15276099906658394,
+            "release_required_pad_clearance": 0.053015834414161675,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.063845063838149,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007491171360015869,
+            "max_z_decrease": 0.007491171360015869,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035021018203727584,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007491171360015869,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021173742718324173,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007491171360015869,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007491297492358379,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18284296989440912,
+              -0.36471527814865107,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18284296989440912,
+              -0.36471527814865107,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18378868521313763,
+              -0.36343049374529895,
+              0.8045255160413797
+            ],
+            "closest_button": [
+              0.18275877833366388,
+              -0.3647136688232422,
+              0.7695431709289551
+            ],
+            "closest_ee_minus_button": [
+              0.001029906879473741,
+              0.0012831750779432327,
+              0.034982345112424595
+            ],
+            "button_min_z_position": [
+              0.18279959261417383,
+              -0.3647181391716003,
+              0.7693176865577698
+            ],
+            "min_active_finger_to_button": 0.14455173394177778,
+            "closest_active_finger": [
+              0.05783438682556152,
+              -0.42842939496040344,
+              0.8077375292778015
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+            "closest_active_finger_button": [
+              0.1828628778457641,
+              -0.36472901701927185,
+              0.7730194926261902
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12502849102020258,
+              -0.06370037794113159,
+              0.03471803665161133
+            ],
+            "min_contact_pad_to_button": 0.021173742718324173,
+            "closest_contact_pad": [
+              0.18275877833366388,
+              -0.3647136688232422,
+              0.7907169136472793
+            ],
+            "closest_contact_pad_button": [
+              0.18275877833366388,
+              -0.3647136688232422,
+              0.7695431709289551
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021173742718324173
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8cbcb2b3e8a5c8c652705fc64f4f6d18bfc19b1de43cfae4bbe42f6063bdef1c",
+    "visual_seed": 3662291547257370608,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..63fd51bfe7e67cdb8b3c7a0c080382c52a7ee499
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_75_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3352839266289752,
+              0.009762134368919826,
+              1.0009181718684064
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+            "current_z": 1.0009181718684064,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1443316644598408,
+            "gripper_z": 1.0011567427480559,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3309284070436067,
+              0.005306200189965901,
+              1.0011567427480559
+            ],
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+              0.004355519585368506,
+              0.0044559341789539245,
+              -0.0002385708796495134
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+            "object_to_gripper_xy": 0.006231043272654943,
+            "object_to_gripper_z": -0.0002385708796495134,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3352839266289752,
+              -0.0141513694897597,
+              1.0009181718684064
+            ],
+            "finger_b": [
+              0.32400040125440643,
+              0.009762134368919826,
+              1.0009181718684064
+            ],
+            "finger_midpoint": [
+              0.3296421639416908,
+              -0.0021946175604199373,
+              1.0009181718684064
+            ],
+            "object_minus_finger_midpoint": [
+              0.005641762687284391,
+              0.011956751929339763,
+              0.0
+            ],
+            "finger_gap": 0.026441891227323704,
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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": 1.0009181718684064,
+            "object_top_z": 1.0461493832155153,
+            "finger_top_clearance": 0.045231211347108946,
+            "fingertip_min_top_clearance": 0.013569363404132683,
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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": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0073947906494140625,
+            "max_z_decrease": 0.0073947906494140625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504169755480318,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0073947906494140625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021208589712866543,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0073947906494140625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007395299308263088,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18857209384441379,
+              -0.3604932725429535,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18857209384441379,
+              -0.3604932725429535,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18874913337360846,
+              -0.35873414881778354,
+              0.8104462928377154
+            ],
+            "closest_button": [
+              0.1885779350996018,
+              -0.36048653721809387,
+              0.7754488587379456
+            ],
+            "closest_ee_minus_button": [
+              0.000171198274006662,
+              0.001752388400310334,
+              0.03499743409976985
+            ],
+            "button_min_z_position": [
+              0.1884875148534775,
+              -0.36051249504089355,
+              0.7694140672683716
+            ],
+            "min_active_finger_to_button": 0.14511131467959826,
+            "closest_active_finger": [
+              0.06189330667257309,
+              -0.421725869178772,
+              0.8086002469062805
+            ],
+            "closest_active_finger_button": [
+              0.18860976397991186,
+              -0.3605117201805115,
+              0.7732016444206238
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12671645730733877,
+              -0.0612141489982605,
+              0.03539860248565674
+            ],
+            "min_contact_pad_to_button": 0.021208589712866543,
+            "closest_contact_pad": [
+              0.1884875148534775,
+              -0.36051249504089355,
+              0.7906226569812381
+            ],
+            "closest_contact_pad_button": [
+              0.1884875148534775,
+              -0.36051249504089355,
+              0.7694140672683716
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021208589712866543
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "455a090ec307bcbaacd4f54356ca7b855780a4b4ee716c7a5bed0552201b03a2",
+    "visual_seed": 7147929399803925461,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1504ced97e8123b004d4a8f693f6d539469c66dc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_76_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3368223694055024,
+              0.012047326334699682,
+              0.9986378454918527
+            ],
+            "current_z": 0.9986378454918527,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.14205121887399763,
+            "gripper_z": 0.9994554293394134,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33229007407771355,
+              0.0075399874268277794,
+              0.9994554293394134
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+              0.004532295327788871,
+              0.004507338907871902,
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+            "object_to_gripper_z": -0.0008175838475606989,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3368223694055024,
+              -0.012073917928841122,
+              0.9986378454918527
+            ],
+            "finger_b": [
+              0.3255748069345775,
+              0.012047326334699682,
+              0.9986378454918527
+            ],
+            "finger_midpoint": [
+              0.33119858817004,
+              -1.3295797070720164e-05,
+              0.9986378454918527
+            ],
+            "object_minus_finger_midpoint": [
+              0.005623781235462422,
+              0.012060622131770402,
+              0.0
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+            "finger_gap": 0.026614696811325098,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010193811473936032,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04872796238268194,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.30196905692085685,
+              0.7611065080147659
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.36793196951447,
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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": 2.1668783559660816,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.3105284703886886,
+            "max_source_tilt_deg": 89.94249245511656,
+            "source_upright_tilt_deg": 3.113008601314806,
+            "max_source_upright_tilt_deg": 89.80790452985599,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 2.3105284703886886,
+            "source_upright_return_tilt_deg": 3.113008601314806,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.9802322387695312e-08,
+            "max_target_xy_drift": 3.816559456248789e-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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+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8e29b5bc5e720ae77426b59cd590a10be35c8ac534b55690d03b230710c718b0",
+    "visual_seed": 1699503251381636602,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6883eff2871677f054c7f10f605aa184d7382cd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_77_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+              0.014898182504093142,
+              0.9983597264870532
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+              0.010419699534153115,
+              0.9990485652909478
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+              0.0044784829699400265,
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+            "object_to_gripper_xy": 0.006249571903808766,
+            "object_to_gripper_z": -0.000688838803894587,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3398160133965476,
+              -0.009007605680244963,
+              0.9983597264870532
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+            "finger_b": [
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+              0.014898182504093142,
+              0.9983597264870532
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+            "finger_midpoint": [
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+              0.0029452884119240894,
+              0.9983597264870532
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+              0.011952894092169052,
+              0.0
+            ],
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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_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
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+            "target_position": [
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+              0.3086049910353132,
+              0.7611064484101212
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+              0.27687021305980297,
+              1.0371162645353462
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_upright_tilt_deg": 89.89789655338329,
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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_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": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
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+              "pour_pose_offset": [
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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",
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+              0.8515395619616957
+            ],
+            "target_position": [
+              0.3329374312729876,
+              -0.30449902116538613,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0076513871892583294,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18592128465288418,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395619616957,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565106427356029,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08539983045585896,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15378494097836248,
+            "release_required_pad_clearance": 0.05269991522792948,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4545638847121911,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 160,
+            "max_placed_release_frames": 160
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007438778877258301,
+            "max_z_decrease": 0.007438778877258301,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035031011078729524,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007438778877258301,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021258637278592667,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007438778877258301,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007439231371808829,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1886373609304428,
+              -0.3607604801654816,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1886373609304428,
+              -0.3607604801654816,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18690298913044853,
+              -0.36038299135852003,
+              0.8070669411934485
+            ],
+            "closest_button": [
+              0.18860656023025513,
+              -0.360759973526001,
+              0.7720794081687927
+            ],
+            "closest_ee_minus_button": [
+              -0.0017035710998065945,
+              0.0003769821674809437,
+              0.03498753302465574
+            ],
+            "button_min_z_position": [
+              0.18855556845664978,
+              -0.3607669770717621,
+              0.7693700790405273
+            ],
+            "min_active_finger_to_button": 0.14757925518807152,
+            "closest_active_finger": [
+              0.06062186509370804,
+              -0.42537277936935425,
+              0.8089954853057861
+            ],
+            "closest_active_finger_button": [
+              0.1886441856622696,
+              -0.36076757311820984,
+              0.7741230130195618
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12802232056856155,
+              -0.06460520625114441,
+              0.034872472286224365
+            ],
+            "min_contact_pad_to_button": 0.021258637278592667,
+            "closest_contact_pad": [
+              0.18855556845664978,
+              -0.36148243975909927,
+              0.7906166734049378
+            ],
+            "closest_contact_pad_button": [
+              0.18855556845664978,
+              -0.3607669770717621,
+              0.7693700790405273
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007154626873371872,
+              0.021246594364410454
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c409a2c2081fa09e5270069493980ddf282a9cd061aa2d2621c9f788f182a09d",
+    "visual_seed": 7839911802491282309,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a3449af0356dad37e9c50a4628c3d65c75e8e79
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_78_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33125448466259066,
+              0.013092005693889389,
+              0.9983864952676362
+            ],
+            "current_z": 0.9983864952676362,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.14180010706836021,
+            "gripper_z": 0.9993189291339867,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32681770439563257,
+              0.00866265655291712,
+              0.9993189291339867
+            ],
+            "object_minus_gripper": [
+              0.004436780266958096,
+              0.004429349140972269,
+              -0.0009324338663504461
+            ],
+            "object_to_gripper_xy": 0.006269302429289923,
+            "object_to_gripper_z": -0.0009324338663504461,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33125448466259066,
+              -0.011111492770447018,
+              0.9983864952676362
+            ],
+            "finger_b": [
+              0.32032014041939816,
+              0.013092005693889389,
+              0.9983864952676362
+            ],
+            "finger_midpoint": [
+              0.3257873125409944,
+              0.0009902564617211857,
+              0.9983864952676362
+            ],
+            "object_minus_finger_midpoint": [
+              0.005467172121596253,
+              0.012101749232168203,
+              0.0
+            ],
+            "finger_gap": 0.026558788036011204,
+            "fingertip_max_gap": 0.0924647210168962,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013279394018005602,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9983864952676362,
+            "object_top_z": 1.043714036851631,
+            "finger_top_clearance": 0.04532754158399488,
+            "fingertip_min_top_clearance": 0.01359826247519848,
+            "object_projection_between_fingers": 0.830500282250043,
+            "object_to_finger_line_xy": 0.00996466343794741,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048732360508448105,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.467326552758813,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              0.0348702073097229
+            ],
+            "min_contact_pad_to_button": 0.021251372865006064,
+            "closest_contact_pad": [
+              0.1836479008197784,
+              -0.36117578440386744,
+              0.7908657730018385
+            ],
+            "closest_contact_pad_button": [
+              0.1836479008197784,
+              -0.36073136329650873,
+              0.7696190476417542
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00044442110735870566,
+              0.021246725360084318
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e39f60dd97c008bb591af6a94c63bbe3f739ae18aef915485ed30d322d8a0240",
+    "visual_seed": 6652299640714165877,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddf73b311813b18787a752d2f3735535c2916096
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_79_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3315392274853017,
+              0.007665814108026177,
+              0.9998399364986272
+            ],
+            "current_z": 0.9998399364986272,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14325342909006167,
+            "gripper_z": 1.0007541130226492,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32726974522423735,
+              0.0033028726964082628,
+              1.0007541130226492
+            ],
+            "object_minus_gripper": [
+              0.004269482261064328,
+              0.004362941411617915,
+              -0.0009141765240219257
+            ],
+            "object_to_gripper_xy": 0.006104403045241483,
+            "object_to_gripper_z": -0.0009141765240219257,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3315392274853017,
+              -0.016303083414891156,
+              0.9998399364986272
+            ],
+            "finger_b": [
+              0.3205482176615851,
+              0.007665814108026177,
+              0.9998399364986272
+            ],
+            "finger_midpoint": [
+              0.3260437225734434,
+              -0.004318634653432489,
+              0.9998399364986272
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054955049118582955,
+              0.011984448761458665,
+              0.0
+            ],
+            "finger_gap": 0.02636873803216884,
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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": 0.9998399364986272,
+            "object_top_z": 1.0451233586706123,
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+            "fingertip_min_top_clearance": 0.013585026651595533,
+            "object_projection_between_fingers": 0.8262613266972895,
+            "object_to_finger_line_xy": 0.009990708990951759,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048858418722604366,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.6109308805760167,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.3020339067743724,
+              0.761106508014766
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+            "gripper_position": [
+              0.18777021063132654,
+              0.27216825464612426,
+              1.0374580429674731
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+              -0.27635153495270715
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+            "held_minus_target": [
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+              0.004262333576444455,
+              -0.0011191934419487737
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+            "held_gripper_dist": 0.006172922128593043,
+            "max_held_gripper_dist": 0.006176954439077706,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.791106508014766,
+            "gripper_z": 1.0374580429674731,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.36916823375424,
+            "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": 2.4808207427220794,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.4470417696825435,
+            "max_source_tilt_deg": 89.55893645897478,
+            "source_upright_tilt_deg": 3.0093508473983452,
+            "max_source_upright_tilt_deg": 89.7317322715337,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 2.4470417696825435,
+            "source_upright_return_tilt_deg": 3.0093508473983452,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.332000937312528e-08,
+            "max_target_xy_drift": 1.4675941767984784e-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",
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+              "source_name": "beaker",
+              "target_object": "beaker_a",
+              "raw_target_position": [
+                0.1821,
+                0.302,
+                0.7611
+              ],
+              "controller_target_position": [
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+                0.302,
+                0.7611
+              ],
+              "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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+                0.001,
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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",
+              "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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+                "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": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
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+              "source_return_best_wrist_position": -1.6161302328109741,
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+              "wrist_compensated_return_position": -1.6161302328109741
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "max_stable_success_frames": 365,
+            "required_stable_lift_frames": 5
+          },
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+          "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",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/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": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33925560446300707,
+              -0.30445163596633723,
+              0.8515395660677538
+            ],
+            "target_position": [
+              0.332370415135689,
+              -0.30578494123687533,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00701309739112893,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1829938252699201,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395660677538,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546265234289264,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08581009199023502,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15146978377292986,
+            "release_required_pad_clearance": 0.052905045995117514,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8494916904715858,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007684826850891113,
+            "max_z_decrease": 0.007684826850891113,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500053923929739,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007684826850891113,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021151953944766117,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007684826850891113,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007685424440846614,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18807034194469444,
+              -0.3620463907718658,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18807034194469444,
+              -0.3620463907718658,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18797795440990359,
+              -0.3615919855225903,
+              0.8057457855934139
+            ],
+            "closest_button": [
+              0.18801315128803248,
+              -0.36207199096679676,
+              0.7707485556602478
+            ],
+            "closest_ee_minus_button": [
+              -3.5196878128890274e-05,
+              0.00048000544420645497,
+              0.03499722993316612
+            ],
+            "button_min_z_position": [
+              0.1879799216985702,
+              -0.3620781600475311,
+              0.7691240310668945
+            ],
+            "min_active_finger_to_button": 0.14585923065866188,
+            "closest_active_finger": [
+              0.06142968684434891,
+              -0.4252561926841736,
+              0.8082049489021301
+            ],
+            "closest_active_finger_button": [
+              0.18810422718524927,
+              -0.3620698153972625,
+              0.7730487585067749
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12667454034090037,
+              -0.06318637728691107,
+              0.035156190395355225
+            ],
+            "min_contact_pad_to_button": 0.021151953944766117,
+            "closest_contact_pad": [
+              0.1879799216985702,
+              -0.3626695747931601,
+              0.7902677153314724
+            ],
+            "closest_contact_pad_button": [
+              0.1879799216985702,
+              -0.3620781600475311,
+              0.7691240310668945
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005914147456290153,
+              0.02114368426457791
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "50ff7f2f671655b6c652991875229706414b10bb3ff97d810207cae11d9bf44e",
+    "visual_seed": 6647061001076156304,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e021f41eb781a4218502715db634c02da828f890
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_7_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.338676164971915,
+              0.008709089123110898,
+              0.9969757658504254
+            ],
+            "current_z": 0.9969757658504254,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1403892584418598,
+            "gripper_z": 0.9976932098422997,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3342510182844812,
+              0.00427063182597362,
+              0.9976932098422997
+            ],
+            "object_minus_gripper": [
+              0.0044251466874337675,
+              0.004438457297137278,
+              -0.0007174439918743447
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+            "object_to_gripper_xy": 0.006267521550327306,
+            "object_to_gripper_z": -0.0007174439918743447,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.338676164971915,
+              -0.015362022431629237,
+              0.9969757658504254
+            ],
+            "finger_b": [
+              0.3275608154917846,
+              0.008709089123110898,
+              0.9969757658504254
+            ],
+            "finger_midpoint": [
+              0.3331184902318498,
+              -0.0033264666542591696,
+              0.9969757658504254
+            ],
+            "object_minus_finger_midpoint": [
+              0.005557674740065188,
+              0.012035555777370067,
+              0.0
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+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007649779319763184,
+            "max_z_decrease": 0.007649779319763184,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035007950911837275,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007649779319763184,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021271391067105093,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007649779319763184,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007650347451864273,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18498852849006656,
+              -0.3612133264541626,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18498852849006656,
+              -0.3612133264541626,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18426135505730534,
+              -0.36053862598856784,
+              0.8072467576130316
+            ],
+            "closest_button": [
+              0.18493703007698065,
+              -0.36123529076576233,
+              0.7722522616386414
+            ],
+            "closest_ee_minus_button": [
+              -0.0006756750196753036,
+              0.0006966647771944889,
+              0.034994495974390194
+            ],
+            "button_min_z_position": [
+              0.18489591777324682,
+              -0.36122408509254456,
+              0.7691590785980225
+            ],
+            "min_active_finger_to_button": 0.1463070137857457,
+            "closest_active_finger": [
+              0.057479456067085266,
+              -0.4237450957298279,
+              0.807845950126648
+            ],
+            "closest_active_finger_button": [
+              0.18502546846866613,
+              -0.361229807138443,
+              0.7727803587913513
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12754601240158087,
+              -0.06251528859138489,
+              0.03506559133529663
+            ],
+            "min_contact_pad_to_button": 0.021271391067105093,
+            "closest_contact_pad": [
+              0.18489591777324682,
+              -0.36165296455658363,
+              0.7904261456345238
+            ],
+            "closest_contact_pad_button": [
+              0.18489591777324682,
+              -0.36122408509254456,
+              0.7691590785980225
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00042887946403907806,
+              0.021267067036501386
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "38a9780898dd1cfa408e5b990e2c009210e5a38c047f700940a146e10acad31c",
+    "visual_seed": 1833967396585401993,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bcc1648450aa44e6339de79ccdfec1df48de937
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_80_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3355225599586295,
+              0.011462703937593393,
+              0.998865097605301
+            ],
+            "current_z": 0.998865097605301,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.14227870940602494,
+            "gripper_z": 0.9996615117409025,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33098084598517696,
+              0.0069084565732143305,
+              0.9996615117409025
+            ],
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+              0.004541713973452544,
+              0.0045542473643790625,
+              -0.0007964141356014975
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+            "object_to_gripper_xy": 0.0064318220492025225,
+            "object_to_gripper_z": -0.0007964141356014975,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3355225599586295,
+              -0.012640507404026897,
+              0.998865097605301
+            ],
+            "finger_b": [
+              0.3241722439617073,
+              0.011462703937593393,
+              0.998865097605301
+            ],
+            "finger_midpoint": [
+              0.3298474019601684,
+              -0.0005889017332167523,
+              0.998865097605301
+            ],
+            "object_minus_finger_midpoint": [
+              0.005675157998461133,
+              0.012051605670810145,
+              0.0
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+            "finger_gap": 0.02664196821199217,
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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": 0.010268725759714926,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04854351741316283,
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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": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.3029063995645948,
+              0.7611063292008318
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+            "gripper_position": [
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+              0.27129004109805593,
+              1.0406691580382748
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+              0.0044011648178457485,
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+            "xy_dist": 0.03252099256142748,
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+            "held_gripper_dist": 0.006483075904215773,
+            "max_held_gripper_dist": 0.006487020563502397,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7611063292008318,
+            "held_z": 1.0396437057224477,
+            "required_height": 0.7911063292008318,
+            "gripper_z": 1.0406691580382748,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.3748031398195,
+            "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": 1.7512687837988545,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.639008864335866,
+            "max_source_tilt_deg": 89.9647821658523,
+            "source_upright_tilt_deg": 2.423846178499692,
+            "max_source_upright_tilt_deg": 89.89969339297858,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
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+                "panda_rightfingertip",
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+                "split_aloha",
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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": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f148a12c658e782178a7ccaa1f11edce982e060f1bc293f8075b83a2aca183c",
+    "visual_seed": 5052377558879954387,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..59e0cd6cde1b453ee296b9064f142a9ffffed09d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_81_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+          "skill": "pick",
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+          "metrics": {
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+              0.009303383956448658,
+              0.9984643557101903
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+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.14187778869697987,
+            "gripper_z": 0.9988580487406037,
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+            "gripper_position": [
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+              0.004853103963664673,
+              0.9988580487406037
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+              0.004450279992783985,
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+            "finger_b": [
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+              0.009303383956448658,
+              0.9984643557101903
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+              -0.002674895013580051,
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+              0.011978278970028709,
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+              0.0,
+              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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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+        "target": "beaker_b",
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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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "target_position": [
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+            "missing_end_effector_orientation_samples": 0,
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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": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3365843030897364,
+              -0.30741994476918694,
+              0.8515395878953327
+            ],
+            "target_position": [
+              0.3287792703978171,
+              -0.30875942080747365,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007919137034997761,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18655830048467825,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395878953327,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523287446463446,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08580346139589844,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15536037227581115,
+            "release_required_pad_clearance": 0.05290173069794922,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.843017485952686,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 161,
+            "max_placed_release_frames": 161
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007820367813110352,
+            "max_z_decrease": 0.007820367813110352,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035071487252133125,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007820367813110352,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021135510277420916,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007820367813110352,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007820890855079804,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18447919189929962,
+              -0.3650208711624145,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18447919189929962,
+              -0.3650208711624145,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18235237875733953,
+              -0.36427776975813264,
+              0.8087745417345812
+            ],
+            "closest_button": [
+              0.1844744235277176,
+              -0.3650357127189636,
+              0.7737755179405212
+            ],
+            "closest_ee_minus_button": [
+              -0.0021220447703780565,
+              0.0007579429608309818,
+              0.03499902379405995
+            ],
+            "button_min_z_position": [
+              0.18439748883247373,
+              -0.3650596737861633,
+              0.7689884901046753
+            ],
+            "min_active_finger_to_button": 0.14756375933368576,
+            "closest_active_finger": [
+              0.05454586446285248,
+              -0.4253236651420593,
+              0.8081019520759583
+            ],
+            "closest_active_finger_button": [
+              0.1845175325870514,
+              -0.3650444149971008,
+              0.7727630138397217
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1299716681241989,
+              -0.06027925014495855,
+              0.03533893823623657
+            ],
+            "min_contact_pad_to_button": 0.021135510277420916,
+            "closest_contact_pad": [
+              0.18439748883247373,
+              -0.36556724740412133,
+              0.790117904760773
+            ],
+            "closest_contact_pad_button": [
+              0.18439748883247373,
+              -0.3650596737861633,
+              0.7689884901046753
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000507573617958057,
+              0.021129414656097745
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "53a26eb2b04fa6b8541cf8f91b133f431953ced27a62e0defd9953f2adc67035",
+    "visual_seed": 7581316564610941391,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ef97dd3aa253bcacb5aeeb352da497dc662f773
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_82_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3385289882359901,
+              0.010988053121907261,
+              0.9997248649887731
+            ],
+            "current_z": 0.9997248649887731,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.14313841718485232,
+            "gripper_z": 1.0004074779855139,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3341043908794136,
+              0.00646395452078985,
+              1.0004074779855139
+            ],
+            "object_minus_gripper": [
+              0.004424597356576465,
+              0.004524098601117412,
+              -0.0006826129967407724
+            ],
+            "object_to_gripper_xy": 0.006328074740429032,
+            "object_to_gripper_z": -0.0006826129967407724,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3385289882359901,
+              -0.012939128712325986,
+              0.9997248649887731
+            ],
+            "finger_b": [
+              0.3271063103505945,
+              0.010988053121907261,
+              0.9997248649887731
+            ],
+            "finger_midpoint": [
+              0.3328176492932923,
+              -0.0009755377952093622,
+              0.9997248649887731
+            ],
+            "object_minus_finger_midpoint": [
+              0.005711338942697819,
+              0.011963590917116624,
+              0.0
+            ],
+            "finger_gap": 0.026513913340017667,
+            "fingertip_max_gap": 0.09223200361516357,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013256956670008846,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9997248649887731,
+            "object_top_z": 1.0450267595268348,
+            "finger_top_clearance": 0.04530189453806166,
+            "fingertip_min_top_clearance": 0.013590568361418498,
+            "object_projection_between_fingers": 0.814395630930364,
+            "object_to_finger_line_xy": 0.010308266731234349,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048616001807581785,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.164695957266346,
+            "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_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+              -0.3636219501495361,
+              0.7693947553634644
+            ],
+            "min_active_finger_to_button": 0.145760451583756,
+            "closest_active_finger": [
+              0.04216950386762619,
+              -0.3500916361808777,
+              0.8080173134803772
+            ],
+            "closest_active_finger_button": [
+              0.1830364167690277,
+              -0.36363095045089716,
+              0.7730987071990967
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14086691290140152,
+              0.013539314270019476,
+              0.03491860628128052
+            ],
+            "min_contact_pad_to_button": 0.021382586461970367,
+            "closest_contact_pad": [
+              0.18298694491386414,
+              -0.36625054883076646,
+              0.79225331641528
+            ],
+            "closest_contact_pad_button": [
+              0.18298694491386414,
+              -0.36362808942794794,
+              0.7710321545600891
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002622459402818522,
+              0.02122116185519085
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fbb00482f2028c0edc0630798bb934efe517d5905f3be11866ab25dbdb18b6cd",
+    "visual_seed": 4736814408241258450,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..83f928a0dcba648cf01d3d1a16abc1018dbb89dc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_83_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3372711948650434,
+              0.007603972363053528,
+              1.0006206032752185
+            ],
+            "current_z": 1.0006206032752185,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.14403409586665317,
+            "gripper_z": 1.0014367447343455,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3328495429792087,
+              0.003156499270841842,
+              1.0014367447343455
+            ],
+            "object_minus_gripper": [
+              0.00442165188583471,
+              0.004447473092211686,
+              -0.0008161414591270066
+            ],
+            "object_to_gripper_xy": 0.006271444993416798,
+            "object_to_gripper_z": -0.0008161414591270066,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3372711948650434,
+              -0.016443677401449353,
+              1.0006206032752185
+            ],
+            "finger_b": [
+              0.326109197581695,
+              0.007603972363053528,
+              1.0006206032752185
+            ],
+            "finger_midpoint": [
+              0.3316901962233692,
+              -0.004419852519197912,
+              1.0006206032752185
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055809986416742174,
+              0.012023824882251441,
+              0.0
+            ],
+            "finger_gap": 0.026511877386365408,
+            "fingertip_max_gap": 0.09254392501522993,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013255938693182704,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0006206032752185,
+            "object_top_z": 1.0458741937066827,
+            "finger_top_clearance": 0.04525359043146415,
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+            "object_projection_between_fingers": 0.8227432183104195,
+            "object_to_finger_line_xy": 0.010124511268309475,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048771962507614966,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.454142817451337,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1861352832998714,
+              0.30274570544228036,
+              0.7611066868287004
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+            "gripper_position": [
+              0.19397931391686704,
+              0.27194531118367815,
+              1.040748465791856
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+            "target_minus_gripper": [
+              -0.00784403061699565,
+              0.030800394258602204,
+              -0.27964177896315556
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+            "held_position": [
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+              0.2761849051727513,
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+            "held_minus_target": [
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+              -0.02656080026952906,
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+            "held_minus_gripper": [
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+              0.004239593989073143,
+              -0.0010207675954487794
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+            "held_xy_dist": 0.029323436521599085,
+            "held_gripper_dist": 0.006324875997073199,
+            "max_held_gripper_dist": 0.00632818334200573,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7611066868287004,
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+            "gripper_z": 1.040748465791856,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.32930724975805,
+            "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
+            ],
+            "source_start_tilt_deg": 2.297484389177423,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.09622771740715,
+            "max_source_tilt_deg": 89.95154791697006,
+            "source_upright_tilt_deg": 2.453448200680171,
+            "max_source_upright_tilt_deg": 89.96393466280065,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 3.09622771740715,
+            "source_upright_return_tilt_deg": 2.453448200680171,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.9802322387695312e-08,
+            "max_target_xy_drift": 5.855227322694212e-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_a",
+              "raw_target_position": [
+                0.1861,
+                0.3027,
+                0.7611
+              ],
+              "controller_target_position": [
+                0.1861,
+                0.3027,
+                0.7611
+              ],
+              "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,
+                0.0019
+              ],
+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+                0.4
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+                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
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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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+              "source_pose_feedback_error": null,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+              "allowed_objects": [
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33572871259781306,
+              -0.31046988760171246,
+              0.8515395942285777
+            ],
+            "target_position": [
+              0.3289204825996146,
+              -0.31294935105944977,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007245670068849681,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18425318224008755,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395942285777,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563108611503236,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09056152909318703,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15231123237241778,
+            "release_required_pad_clearance": 0.05528076454659352,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.671179098579429,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007685840129852295,
+            "max_z_decrease": 0.007685840129852295,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03497430614794807,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007685840129852295,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021223838928198187,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007685840129852295,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007686517662076065,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18462041020393374,
+              -0.369210809469223,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18462041020393374,
+              -0.369210809469223,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18466977361682774,
+              -0.36929706885993807,
+              0.8044634479056763
+            ],
+            "closest_button": [
+              0.1845189332962036,
+              -0.3692057132720947,
+              0.769489586353302
+            ],
+            "closest_ee_minus_button": [
+              0.00015084032062412378,
+              -9.135558784334474e-05,
+              0.03497386155237425
+            ],
+            "button_min_z_position": [
+              0.1845195293426514,
+              -0.3691953718662262,
+              0.7691230177879333
+            ],
+            "min_active_finger_to_button": 0.1458364650033135,
+            "closest_active_finger": [
+              0.04372934252023697,
+              -0.3550996482372284,
+              0.8077378869056702
+            ],
+            "closest_active_finger_button": [
+              0.1846361607313156,
+              -0.3692210912704468,
+              0.7728935480117798
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14090681821107864,
+              0.014121443033218384,
+              0.03484433889389038
+            ],
+            "min_contact_pad_to_button": 0.021223838928198187,
+            "closest_contact_pad": [
+              0.1845189332962036,
+              -0.37032483867188704,
+              0.7906838992034427
+            ],
+            "closest_contact_pad_button": [
+              0.1845189332962036,
+              -0.3692057132720947,
+              0.769489586353302
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001119125399792309,
+              0.02119431285014073
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "66d4f9888f2e77162a29b5a9116214d4f516df84a23ed4baf5f43cd964b23f61",
+    "visual_seed": 3754125811088030342,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c400010434495da322a4c9951f76a27031327d82
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_84_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.338919345252624,
+              0.014660291794165574,
+              0.9992382273144699
+            ],
+            "current_z": 0.9992382273144699,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1426517199059043,
+            "gripper_z": 1.000029773204287,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33456221466748604,
+              0.010315501431100452,
+              1.000029773204287
+            ],
+            "object_minus_gripper": [
+              0.0043571305851379805,
+              0.0043447903630651225,
+              -0.0007915458898172245
+            ],
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+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075833797454833984,
+            "max_z_decrease": 0.0075833797454833984,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035000538577900295,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075833797454833984,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.0213228796962604,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0075833797454833984,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007583898693813926,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1841935813426971,
+              -0.36035627126693726,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1841935813426971,
+              -0.36035627126693726,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18364428312597308,
+              -0.360049440855881,
+              0.8070714835210747
+            ],
+            "closest_button": [
+              0.18417498469352717,
+              -0.36035570502281183,
+              0.7720763087272644
+            ],
+            "closest_ee_minus_button": [
+              -0.0005307015675540816,
+              0.00030626416693085856,
+              0.03499517479381031
+            ],
+            "button_min_z_position": [
+              0.18410547077655787,
+              -0.3603666424751281,
+              0.7692254781723022
+            ],
+            "min_active_finger_to_button": 0.14665978412920486,
+            "closest_active_finger": [
+              0.05655646324157715,
+              -0.42350390553474426,
+              0.8077971339225769
+            ],
+            "closest_active_finger_button": [
+              0.18421860039234156,
+              -0.3603651821613312,
+              0.7727975249290466
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1276621371507644,
+              -0.06313872337341309,
+              0.03499960899353027
+            ],
+            "min_contact_pad_to_button": 0.0213228796962604,
+            "closest_contact_pad": [
+              0.18410547077655787,
+              -0.3613426387239593,
+              0.7905260093831303
+            ],
+            "closest_contact_pad_button": [
+              0.18410547077655787,
+              -0.3603666424751281,
+              0.7692254781723022
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009759962488311569,
+              0.02130053121082809
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c11846ae0f13d44575b777c3a05a2e07857ea106658f7ca5285b694f6f14537a",
+    "visual_seed": 5737481497508966,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0c0113b7883020c4ef956ed110f44cfd00d8f0c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_85_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3392004482042619,
+              0.014463908324085301,
+              0.9992222972084632
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+            "current_z": 0.9992222972084632,
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+            "lift_margin": 0.1426359090091872,
+            "gripper_z": 0.9999752531470008,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33487029272238006,
+              0.01013446347983929,
+              0.9999752531470008
+            ],
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+              0.004330155481881814,
+              0.004329444844246012,
+              -0.0007529559385375251
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+            "object_to_gripper_xy": 0.006123262133588558,
+            "object_to_gripper_z": -0.0007529559385375251,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3392004482042619,
+              -0.009679245222607371,
+              0.9992222972084632
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+            "finger_b": [
+              0.3284162211892361,
+              0.014463908324085301,
+              0.9992222972084632
+            ],
+            "finger_midpoint": [
+              0.333808334696749,
+              0.002392331550738965,
+              0.9992222972084632
+            ],
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+              0.005392113507512897,
+              0.012071576773346335,
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+            ],
+            "finger_gap": 0.02644222788440473,
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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_max_tilt_deg": 15.0,
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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": {
+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.3008453305529066,
+              0.7611066272240558
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+            "gripper_position": [
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+              0.26982137003330464,
+              1.0370433709584244
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+              0.004160847565406245,
+              -0.0009530027022830456
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+            "xy_dist": 0.03156151053896463,
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+            "max_held_gripper_dist": 0.006173635563093729,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7611066272240558,
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+            "gripper_z": 1.0370433709584244,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.34367113758259,
+            "rotation_threshold_deg": 50.0,
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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": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5fa560ac20b131940af590a9fee6d4ced75c7ddfafa8abb3c9d168735dcde8f3",
+    "visual_seed": 1134062968492360982,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..503b6d504a7ce8337d62a91efd1f19e4bd27bd5e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_86_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.010720256105474748,
+              0.9995008832191086
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+            "current_z": 0.9995008832191086,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.14291443541518778,
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+            "gripper_position": [
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+              0.006212662353567627,
+              1.000361974455
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+              0.0044262163122774645,
+              0.004507593751907121,
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+            "object_to_gripper_z": -0.000861091235891509,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.013270813067077915,
+              0.9995008832191086
+            ],
+            "finger_b": [
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+              0.010720256105474748,
+              0.9995008832191086
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+            "finger_midpoint": [
+              0.3283311627978576,
+              -0.0012752784808015838,
+              0.9995008832191086
+            ],
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+              0.011995534586276332,
+              0.0
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+            "finger_gap": 0.026528124704722437,
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+            "object_to_finger_line_xy": 0.010238497891212906,
+            "fingertip_xy_max_dist": 0.055,
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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": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.30392498333916146,
+              0.7611063888054764
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+              0.2727872281822633,
+              1.0379671605812926
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_upright_tilt_deg": 89.84826565588492,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": 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": 1.4901161193847656e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0,
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+            "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": 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_a",
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+              "controller_target_position": [
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+                0.3039,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.2
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            ],
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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,
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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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+            "pour_controller_source_pose_held_object": "beaker_b",
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/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": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3382884546340864,
+              -0.3073591673626646,
+              0.8515395404668271
+            ],
+            "target_position": [
+              0.32812707926626805,
+              -0.3104672724984151,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.010626093680209312,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18658925343241234,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395404668271,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590614522071894,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_missing_size": false,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8448723185208277,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007500648498535156,
+            "max_z_decrease": 0.007500648498535156,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507371671492887,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007500648498535156,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.02112824829671989,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007500648498535156,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007501028737128813,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18382699787616735,
+              -0.3667287230491637,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18382699787616735,
+              -0.3667287230491637,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1817596409584024,
+              -0.36557913137448167,
+              0.8103251373866299
+            ],
+            "closest_button": [
+              0.18382623791694644,
+              -0.36673307418823237,
+              0.7753313779830933
+            ],
+            "closest_ee_minus_button": [
+              -0.002066596958544026,
+              0.0011539428137506968,
+              0.03499375940353666
+            ],
+            "button_min_z_position": [
+              0.18376632034778598,
+              -0.36677369475364674,
+              0.7693082094192505
+            ],
+            "min_active_finger_to_button": 0.14729126594255496,
+            "closest_active_finger": [
+              0.05402351915836334,
+              -0.4267061650753021,
+              0.8084445595741272
+            ],
+            "closest_active_finger_button": [
+              0.18385687470436096,
+              -0.3667477071285247,
+              0.7731883525848389
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12983335554599762,
+              -0.0599584579467774,
+              0.03525620698928833
+            ],
+            "min_contact_pad_to_button": 0.02112824829671989,
+            "closest_contact_pad": [
+              0.18376632034778598,
+              -0.36686276510732463,
+              0.7904362699681968
+            ],
+            "closest_contact_pad_button": [
+              0.18376632034778598,
+              -0.36677369475364674,
+              0.7693082094192505
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -8.907035367788918e-05,
+              0.021128060548946337
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dbca84be44f79266f17997895fdf2075d1450214f83e019c1de0abfa2818dd4d",
+    "visual_seed": 6936105410532288573,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d07ab837b5229459c091970d7d1d3370f060b30
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_88_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33574882478561796,
+              0.013503272715048248,
+              0.9997575467327529
+            ],
+            "current_z": 0.9997575467327529,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.14317115853347684,
+            "gripper_z": 0.9999095122638082,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33147043011824306,
+              0.009028858087563221,
+              0.9999095122638082
+            ],
+            "object_minus_gripper": [
+              0.004278394667374896,
+              0.004474414627485027,
+              -0.0001519655310553425
+            ],
+            "object_to_gripper_xy": 0.006190722670938662,
+            "object_to_gripper_z": -0.0001519655310553425,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33574882478561796,
+              -0.010292868987442886,
+              0.9997575467327529
+            ],
+            "finger_b": [
+              0.32436606639800014,
+              0.013503272715048248,
+              0.9997575467327529
+            ],
+            "finger_midpoint": [
+              0.33005744559180905,
+              0.001605201863802681,
+              0.9997575467327529
+            ],
+            "object_minus_finger_midpoint": [
+              0.00569137919380891,
+              0.011898070851245567,
+              0.0
+            ],
+            "finger_gap": 0.026378467514924394,
+            "fingertip_max_gap": 0.09288316317432552,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013189233757462197,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9997575467327529,
+            "object_top_z": 1.0451305958491053,
+            "finger_top_clearance": 0.045373049116352426,
+            "fingertip_min_top_clearance": 0.013611914734905728,
+            "object_projection_between_fingers": 0.813793038763741,
+            "object_to_finger_line_xy": 0.010268440780485956,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04894158158716276,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.6475381046453523,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
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+                "split_aloha",
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+                "wrist",
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+                "wrist_2_joint",
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+            "button_max_displacement": 0.007446574936737596,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18140906095504755,
+              -0.36677098274230957,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18140906095504755,
+              -0.36677098274230957,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18256130319893307,
+              -0.36512951974902264,
+              0.8055430350348448
+            ],
+            "closest_button": [
+              0.18134368956089014,
+              -0.36676511168479914,
+              0.7705692052841187
+            ],
+            "closest_ee_minus_button": [
+              0.0012176136380429303,
+              0.0016355919357765036,
+              0.03497382975072616
+            ],
+            "button_min_z_position": [
+              0.18133734166622156,
+              -0.3667697608470917,
+              0.7693626284599304
+            ],
+            "min_active_finger_to_button": 0.14420412176225547,
+            "closest_active_finger": [
+              0.056127630174160004,
+              -0.4290758967399597,
+              0.8078582882881165
+            ],
+            "closest_active_finger_button": [
+              0.1814339160919189,
+              -0.3667829930782318,
+              0.773033618927002
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1253062859177589,
+              -0.062292903661727905,
+              0.0348246693611145
+            ],
+            "min_contact_pad_to_button": 0.021225067153897825,
+            "closest_contact_pad": [
+              0.18134368956089014,
+              -0.36676511168479914,
+              0.7917942724380165
+            ],
+            "closest_contact_pad_button": [
+              0.18134368956089014,
+              -0.36676511168479914,
+              0.7705692052841187
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021225067153897825
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e3d06cfd62806e0c616d5794191ed3fecee63e4a203bb57b03387a1e2535acad",
+    "visual_seed": 3755497070100011768,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c684965ef27da0c7a44bab486a530bc4ceb4803
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_89_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3383586065530803,
+              0.009160592098585557,
+              0.9998366647546522
+            ],
+            "current_z": 0.9998366647546522,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.14325021695073137,
+            "gripper_z": 1.00056933067555,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3339993770719347,
+              0.004727679877979063,
+              1.00056933067555
+            ],
+            "object_minus_gripper": [
+              0.004359229481145588,
+              0.004432912220606494,
+              -0.0007326659208979347
+            ],
+            "object_to_gripper_xy": 0.00621720133379089,
+            "object_to_gripper_z": -0.0007326659208979347,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3383586065530803,
+              -0.014850509125550112,
+              0.9998366647546522
+            ],
+            "finger_b": [
+              0.3272333231485729,
+              0.009160592098585557,
+              0.9998366647546522
+            ],
+            "finger_midpoint": [
+              0.33279596485082663,
+              -0.0028449585134822774,
+              0.9998366647546522
+            ],
+            "object_minus_finger_midpoint": [
+              0.005562641702253679,
+              0.012005550612067834,
+              0.0
+            ],
+            "finger_gap": 0.02646327479406692,
+            "fingertip_max_gap": 0.09268745867355019,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9998366647546522,
+            "object_top_z": 1.0451303899424897,
+            "finger_top_clearance": 0.045293725187837586,
+            "fingertip_min_top_clearance": 0.013588117556351276,
+            "object_projection_between_fingers": 0.8232599421142313,
+            "object_to_finger_line_xy": 0.01009437826767817,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048843729336775096,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.565254839249038,
+            "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_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18682827670235247,
+              0.30536109765037966,
+              0.7611063888054764
+            ],
+            "gripper_position": [
+              0.19371154061102028,
+              0.2748271263613323,
+              1.0391742604133432
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+            "target_minus_gripper": [
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+              0.03053397128904739,
+              -0.2780678716078667
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+            "held_position": [
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+              0.2791245517454692,
+              1.0382317304449116
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+            "held_minus_target": [
+              0.011339734995630846,
+              -0.02623654590491048,
+              0.27712534163943514
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+            "held_minus_gripper": [
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+              0.00429742538413691,
+              -0.0009425299684315824
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+            "xy_dist": 0.03130020326957541,
+            "held_xy_dist": 0.02858226601918766,
+            "held_gripper_dist": 0.006262296880742195,
+            "max_held_gripper_dist": 0.0062666362234791205,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7611063888054764,
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+            "required_height": 0.7911063888054765,
+            "gripper_z": 1.0391742604133432,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.35494777990228,
+            "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": 2.3508288577624534,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.6216969971996504,
+            "max_source_tilt_deg": 89.65169153109198,
+            "source_upright_tilt_deg": 2.6907907026629663,
+            "max_source_upright_tilt_deg": 89.56940413324982,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 2.6216969971996504,
+            "source_upright_return_tilt_deg": 2.6907907026629663,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.332000937312528e-08,
+            "max_target_xy_drift": 9.996002811937585e-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": 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_a",
+              "raw_target_position": [
+                0.1868,
+                0.3054,
+                0.7611
+              ],
+              "controller_target_position": [
+                0.1868,
+                0.3054,
+                0.7611
+              ],
+              "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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+                0.0003,
+                0.0001
+              ],
+              "controller_last_pour_pose_position": [
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+                0.2795,
+                1.0274
+              ],
+              "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,
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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",
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+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
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+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
+                "desk",
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+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/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": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33745867707050514,
+              -0.3092950897592024,
+              0.8515395838983648
+            ],
+            "target_position": [
+              0.3301654091603199,
+              -0.31042111001380474,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007379680103060884,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18199165775724316,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395838983648,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520141698238329,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08749247631400729,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15100226936339498,
+            "release_required_pad_clearance": 0.05374623815700365,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.5017142219846877,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007766425609588623,
+            "max_z_decrease": 0.007766425609588623,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503217089989596,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007766425609588623,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021331016109892464,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007766425609588623,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077670131739343345,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18586534261703486,
+              -0.3666825592517852,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18586534261703486,
+              -0.3666825592517852,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18512223508880618,
+              -0.3679544611015946,
+              0.8079949232347678
+            ],
+            "closest_button": [
+              0.18589268624782557,
+              -0.3667004108428955,
+              0.7729936838150024
+            ],
+            "closest_ee_minus_button": [
+              -0.0007704511590193863,
+              -0.0012540502586990687,
+              0.035001239419765406
+            ],
+            "button_min_z_position": [
+              0.18577715754508967,
+              -0.36671930551528925,
+              0.769042432308197
+            ],
+            "min_active_finger_to_button": 0.14705277714956735,
+            "closest_active_finger": [
+              0.043970175087451935,
+              -0.351283997297287,
+              0.8082761764526367
+            ],
+            "closest_active_finger_button": [
+              0.18589268624782557,
+              -0.3667004108428955,
+              0.7729936838150024
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14192251116037363,
+              0.01541641354560852,
+              0.03528249263763428
+            ],
+            "min_contact_pad_to_button": 0.021331016109892464,
+            "closest_contact_pad": [
+              0.18577715754508967,
+              -0.36947208870074155,
+              0.7901950783132334
+            ],
+            "closest_contact_pad_button": [
+              0.18577715754508967,
+              -0.36671930551528925,
+              0.769042432308197
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002752783185452301,
+              0.021152646005036413
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cdcf8bef99f20f425ba09e846a7f4324c19c2eafb8a9d30ea4a1847008660dad",
+    "visual_seed": 7198992356953789901,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ca41d2c19e9e561f421be0e171a504b43838d11
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_8_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00728154182434082,
+            "max_z_decrease": 0.00728154182434082,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499933238564279,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00728154182434082,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021305598916877375,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00728154182434082,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0072821183244379,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18284873664379114,
+              -0.3623827695846557,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18284873664379114,
+              -0.3623827695846557,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18319569364180233,
+              -0.3620772777230791,
+              0.8047206359847986
+            ],
+            "closest_button": [
+              0.182767242193222,
+              -0.36238992214202875,
+              0.7697253227233887
+            ],
+            "closest_ee_minus_button": [
+              0.0004284514485803359,
+              0.0003126444189496258,
+              0.03499531326140992
+            ],
+            "button_min_z_position": [
+              0.1827575415372848,
+              -0.3623916804790496,
+              0.7695273160934448
+            ],
+            "min_active_finger_to_button": 0.14554495274372273,
+            "closest_active_finger": [
+              0.05644816905260086,
+              -0.42545086145401,
+              0.8081706762313843
+            ],
+            "closest_active_finger_button": [
+              0.18287751078605646,
+              -0.3623925149440765,
+              0.7732049822807312
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1264293417334556,
+              -0.06305834650993353,
+              0.034965693950653076
+            ],
+            "min_contact_pad_to_button": 0.021305598916877375,
+            "closest_contact_pad": [
+              0.1827575415372848,
+              -0.363242116110847,
+              0.7908159352229942
+            ],
+            "closest_contact_pad_button": [
+              0.1827575415372848,
+              -0.3623916804790496,
+              0.7695273160934448
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008504356317973749,
+              0.02128861912954938
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c6803640724afc75673cea7673765d804943bd710c20261d99cc08d5f2ecf4b7",
+    "visual_seed": 7919280603805346926,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbced163cfae5764c3c271892e4fa69cf253c875
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_90_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3347188231452725,
+              0.012312022054498894,
+              0.9985039961328921
+            ],
+            "current_z": 0.9985039961328921,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14191748872432652,
+            "gripper_z": 0.9993358820375849,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33035968181508196,
+              0.007820447526090138,
+              0.9993358820375849
+            ],
+            "object_minus_gripper": [
+              0.004359141330190552,
+              0.004491574528408756,
+              -0.0008318859046928528
+            ],
+            "object_to_gripper_xy": 0.0062591017630987435,
+            "object_to_gripper_z": -0.0008318859046928528,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3347188231452725,
+              -0.011601294799768104,
+              0.9985039961328921
+            ],
+            "finger_b": [
+              0.32338191804038174,
+              0.012312022054498894,
+              0.9985039961328921
+            ],
+            "finger_midpoint": [
+              0.32905037059282716,
+              0.0003553636273653949,
+              0.9985039961328921
+            ],
+            "object_minus_finger_midpoint": [
+              0.005668452552445358,
+              0.011956658427133499,
+              0.0
+            ],
+            "finger_gap": 0.026464544967368483,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9985039961328921,
+            "object_top_z": 1.043809220536523,
+            "finger_top_clearance": 0.04530522440363094,
+            "fingertip_min_top_clearance": 0.013591567321089298,
+            "object_projection_between_fingers": 0.8164898202593207,
+            "object_to_finger_line_xy": 0.010244007756577266,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04877843878053213,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4431996515305126,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18436749894280047,
+              0.30162221749290896,
+              0.7611063888054764
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+            "gripper_position": [
+              0.19183421711064816,
+              0.2698373975835527,
+              1.037707831918552
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+            "target_minus_gripper": [
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+              0.03178481990935628,
+              -0.27660144311307555
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+            "held_position": [
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+              0.27415771576529696,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
+              0.004483163043730504,
+              0.004320318181744276,
+              -0.0010602680270095366
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+            "xy_dist": 0.03265006365795139,
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+                "panda_leftfingertip",
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+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "06a7cb3e2ec800c697a4b7d4faf735edc99a339c1226670ad5fc9139a559d0db",
+    "visual_seed": 9208856784642072616,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..15dc9d4da39cb1d3ff22f6515be38199e28a5f4d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_91_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3398176422212213,
+              0.010216077925015495,
+              0.9979877623937574
+            ],
+            "current_z": 0.9979877623937574,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.1414013741944814,
+            "gripper_z": 0.9986875766548677,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33521366739985015,
+              0.0057179798468669635,
+              0.9986875766548677
+            ],
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+              0.0046039748213711484,
+              0.004498098078148532,
+              -0.0006998142611103209
+            ],
+            "object_to_gripper_xy": 0.006436572882867328,
+            "object_to_gripper_z": -0.0006998142611103209,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3398176422212213,
+              -0.014049620083106173,
+              0.9979877623937574
+            ],
+            "finger_b": [
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+              0.010216077925015495,
+              0.9979877623937574
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+            "finger_midpoint": [
+              0.3342613541798465,
+              -0.0019167710790453391,
+              0.9979877623937574
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+            "object_minus_finger_midpoint": [
+              0.005556288041374813,
+              0.012132849004060834,
+              0.0
+            ],
+            "finger_gap": 0.026689200943757364,
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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": 1.0432940481446993,
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+            "fingertip_min_top_clearance": 0.01359188572528256,
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+            "object_to_finger_line_xy": 0.010103502756958708,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485173950004084,
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+            "object_tilt_deg": 1.954519630206476,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18385933954376787,
+              0.30563468296989876,
+              0.7611064484101214
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+            "gripper_position": [
+              0.19105794567213022,
+              0.2758288435082343,
+              1.0383418642725568
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+            "target_minus_gripper": [
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+              0.029805839461664485,
+              -0.2772354158624354
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+            "held_position": [
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+              0.2802624769097284,
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+            "held_minus_target": [
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+              0.27631908246884984
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+            "held_minus_gripper": [
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+              0.004433633401494108,
+              -0.0009163333935855444
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+            "held_gripper_dist": 0.006474947099130211,
+            "max_held_gripper_dist": 0.006478759505273667,
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+            "xy_threshold": 0.15,
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+            "required_height": 0.7911064484101215,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.35741347819265,
+            "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": 2.268373586604448,
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+            "source_tilt_deg": 2.4788541944820994,
+            "max_source_tilt_deg": 89.73827524119878,
+            "source_upright_tilt_deg": 2.822348481865952,
+            "max_source_upright_tilt_deg": 89.8567968388434,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 2.4788541944820994,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.4901161193847656e-08,
+            "max_target_xy_drift": 1.7943374184954607e-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_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_a",
+              "raw_target_position": [
+                0.1839,
+                0.3056,
+                0.7611
+              ],
+              "controller_target_position": [
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+                0.3056,
+                0.7611
+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "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": [
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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_b",
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+              "wrist_compensated_return_position": -1.6159956455230713
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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_a",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            ],
+            "pour_controller_controller_event": 6,
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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": [
+                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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+                0.001790804620460411,
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint1",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "right_inner_finger",
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+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
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+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "table",
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+            },
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+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3331554914583572,
+              -0.3090286588368775,
+              0.8515395727585274
+            ],
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+              -0.3110235282878771,
+              0.8084375599031817
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18541435587094207,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395727585274,
+            "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_missing_size": false,
+            "release_min_pad_clearance": 0.15351528042675938,
+            "release_required_pad_clearance": 0.05365737843969533,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3246122296153433,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007298111915588379,
+            "max_z_decrease": 0.007298111915588379,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502507782078284,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007298111915588379,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021203756391196777,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007298111915588379,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007298638715107296,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18080942332744596,
+              -0.36728498339653004,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18080942332744596,
+              -0.36728498339653004,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17937421365947434,
+              -0.36640304431440684,
+              0.8072205307833131
+            ],
+            "closest_button": [
+              0.180773988366127,
+              -0.3672877252101897,
+              0.7722346186637878
+            ],
+            "closest_ee_minus_button": [
+              -0.0013997747066526456,
+              0.0008846808957828634,
+              0.034985912119525286
+            ],
+            "button_min_z_position": [
+              0.1807238459587097,
+              -0.36730411648750294,
+              0.7695107460021973
+            ],
+            "min_active_finger_to_button": 0.14710613218776922,
+            "closest_active_finger": [
+              0.05202918499708176,
+              -0.429261714220047,
+              0.8090818524360657
+            ],
+            "closest_active_finger_button": [
+              0.18082408607006067,
+              -0.3672971427440642,
+              0.7742611765861511
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12879490107297892,
+              -0.06196457147598278,
+              0.03482067584991455
+            ],
+            "min_contact_pad_to_button": 0.021203756391196777,
+            "closest_contact_pad": [
+              0.1807238459587097,
+              -0.3677879081344416,
+              0.7907089825028963
+            ],
+            "closest_contact_pad_button": [
+              0.1807238459587097,
+              -0.36730411648750294,
+              0.7695107460021973
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004837916469386805,
+              0.021198236500699075
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0e1ca2ee689b8dc6d418ad8ba8c43318bb18212334b52d1cebf1ffc2154213d3",
+    "visual_seed": 2496840988417094070,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..175785076d7a76273c66d3df234441e718789774
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_92_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3359398669023488,
+              0.012144245880948782,
+              0.9981415765570648
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+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.14155506914849914,
+            "gripper_z": 0.9989728690721226,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3314640574566608,
+              0.0077072430761536415,
+              0.9989728690721226
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+              0.004475809445687984,
+              0.004437002804795141,
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+            "object_to_gripper_xy": 0.00630236971970621,
+            "object_to_gripper_z": -0.0008312925150577577,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3359398669023488,
+              -0.012054705980352123,
+              0.9981415765570648
+            ],
+            "finger_b": [
+              0.32494301682552407,
+              0.012144245880948782,
+              0.9981415765570648
+            ],
+            "finger_midpoint": [
+              0.3304414418639364,
+              4.476995029832967e-05,
+              0.9981415765570648
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+            "object_minus_finger_midpoint": [
+              0.005498425038412358,
+              0.012099475930650453,
+              0.0
+            ],
+            "finger_gap": 0.02658044361551775,
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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": 1.0433666195609774,
+            "finger_top_clearance": 0.04522504300391261,
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+            "object_projection_between_fingers": 0.8288361057626547,
+            "object_to_finger_line_xy": 0.010011580298820398,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04876106753850816,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.525066218435635,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
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+                "shoulder_pan_joint",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "joint1",
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+                "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"
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+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007494568824768066,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007495350785345507,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1832489222288131,
+              -0.3684682250022887,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1832489222288131,
+              -0.3684682250022887,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1813673163689283,
+              -0.36770043575650413,
+              0.8050590093488442
+            ],
+            "closest_button": [
+              0.18326967954635612,
+              -0.3684762120246886,
+              0.7701027989387512
+            ],
+            "closest_ee_minus_button": [
+              -0.0019023631774278127,
+              0.0007757762681844804,
+              0.034956210410093
+            ],
+            "button_min_z_position": [
+              0.18314066529273978,
+              -0.36846682429313654,
+              0.7693142890930176
+            ],
+            "min_active_finger_to_button": 0.1472391617326143,
+            "closest_active_finger": [
+              0.05457855761051178,
+              -0.4309641718864441,
+              0.8078570365905762
+            ],
+            "closest_active_finger_button": [
+              0.18326909840106953,
+              -0.3684815764427184,
+              0.7730139493942261
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12869054079055775,
+              -0.0624825954437257,
+              0.0348430871963501
+            ],
+            "min_contact_pad_to_button": 0.02122132631657942,
+            "closest_contact_pad": [
+              0.18326967954635612,
+              -0.3688316865560449,
+              0.7913211478022303
+            ],
+            "closest_contact_pad_button": [
+              0.18326967954635612,
+              -0.3684762120246886,
+              0.7701027989387512
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00035547453135631457,
+              0.021218348863479064
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "75413e2a6edd7102fbd9dc15e2c904f5634f5ab89ef3afed5fe856afaf0e70a2",
+    "visual_seed": 2580170779176896063,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bc673e01c1775a825c3ebbb9166a2cfedf315f8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_93_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33810201882450663,
+              0.008833784521643254,
+              0.9996048463471774
+            ],
+            "current_z": 0.9996048463471774,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14301833893861182,
+            "gripper_z": 1.0003865772928011,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3336122124911065,
+              0.004368073767665473,
+              1.0003865772928011
+            ],
+            "object_minus_gripper": [
+              0.004489806333400126,
+              0.004465710753977781,
+              -0.0007817309456237265
+            ],
+            "object_to_gripper_xy": 0.006332529782767127,
+            "object_to_gripper_z": -0.0007817309456237265,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33810201882450663,
+              -0.01534291205336055,
+              0.9996048463471774
+            ],
+            "finger_b": [
+              0.32703196645682453,
+              0.008833784521643254,
+              0.9996048463471774
+            ],
+            "finger_midpoint": [
+              0.3325669926406656,
+              -0.0032545637658586484,
+              0.9996048463471774
+            ],
+            "object_minus_finger_midpoint": [
+              0.005535026183841052,
+              0.012088348287501903,
+              0.0
+            ],
+            "finger_gap": 0.026590575712139537,
+            "fingertip_max_gap": 0.09251789928575557,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9996048463471774,
+            "object_top_z": 1.0449117197258586,
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+            "fingertip_min_top_clearance": 0.013592062013604366,
+            "object_projection_between_fingers": 0.8266819197213923,
+            "object_to_finger_line_xy": 0.010065118561561158,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875894964287779,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.481119012142135,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.3008297141359754,
+              0.7611063888054765
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+            "gripper_position": [
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+              0.27000794997304023,
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+            "held_minus_gripper": [
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+              0.004378542609893288,
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+            "held_gripper_dist": 0.006381855319867006,
+            "max_held_gripper_dist": 0.006385395331712235,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.7911063888054766,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.37810895137778,
+            "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": 2.6488263864486754,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.5073292351476186,
+            "max_source_tilt_deg": 89.79582061875072,
+            "source_upright_tilt_deg": 2.930022780103502,
+            "max_source_upright_tilt_deg": 89.63073262080512,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 2.5073292351476186,
+            "source_upright_return_tilt_deg": 2.930022780103502,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.228781230931777e-07,
+            "max_target_xy_drift": 2.2351741790771484e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_a",
+              "raw_target_position": [
+                0.1849,
+                0.3008,
+                0.7611
+              ],
+              "controller_target_position": [
+                0.1849,
+                0.3008,
+                0.7611
+              ],
+              "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,
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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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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
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+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
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+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33690519103527855,
+              -0.30531405666320605,
+              0.8515395581284199
+            ],
+            "target_position": [
+              0.32797530076671455,
+              -0.3071376308015467,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009114184705535593,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1837609759281687,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395581284199,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543312076419932,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854746805850992,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15218910013785153,
+            "release_required_pad_clearance": 0.0527373402925496,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5263743186027586,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007424354553222656,
+            "max_z_decrease": 0.007424354553222656,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035081777067676435,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007424354553222656,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021402645282623943,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007424354553222656,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007424977657618397,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18367522954940796,
+              -0.3633990883827209,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18367522954940796,
+              -0.3633990883827209,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1816106176571054,
+              -0.36490977430008376,
+              0.8075248947514152
+            ],
+            "closest_button": [
+              0.18365851044654846,
+              -0.36340683698654175,
+              0.7725352048873901
+            ],
+            "closest_ee_minus_button": [
+              -0.002047892789443062,
+              -0.0015029373135420077,
+              0.034989689864025064
+            ],
+            "button_min_z_position": [
+              0.18358249962329865,
+              -0.36342465877532953,
+              0.769384503364563
+            ],
+            "min_active_finger_to_button": 0.14814773985975435,
+            "closest_active_finger": [
+              0.04044321924448013,
+              -0.3490849733352661,
+              0.8080841302871704
+            ],
+            "closest_active_finger_button": [
+              0.183696448802948,
+              -0.36341467499732966,
+              0.773142397403717
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14325322955846786,
+              0.014329701662063543,
+              0.03494173288345337
+            ],
+            "min_contact_pad_to_button": 0.021402645282623943,
+            "closest_contact_pad": [
+              0.18370987474918365,
+              -0.3662894663323137,
+              0.7922287969474857
+            ],
+            "closest_contact_pad_button": [
+              0.18370987474918365,
+              -0.3633935451507568,
+              0.7710229754447937
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002895921181556904,
+              0.021205821502692013
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c7772aa4dd8193f43ab5c5be58014690cd74d94896c22e3c81f27a7c96cdd7d5",
+    "visual_seed": 2973102694596426121,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..48f37382648d4c1e002eaa5cdf63c8a31be5fc9c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_94_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 94,
+  "success": true,
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+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007956504821777344,
+            "max_z_decrease": 0.007956504821777344,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035019679466876286,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007956504821777344,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02129740802620971,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007956504821777344,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00795709385871123,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18765310943126678,
+              -0.365594208240509,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18765310943126678,
+              -0.365594208240509,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18758926091521974,
+              -0.36676422975888445,
+              0.8078548681905284
+            ],
+            "closest_button": [
+              0.1876799166202545,
+              -0.3656137585639953,
+              0.772854208946228
+            ],
+            "closest_ee_minus_button": [
+              -9.065570503474785e-05,
+              -0.0011504711948891466,
+              0.0350006592443004
+            ],
+            "button_min_z_position": [
+              0.18756423890590662,
+              -0.3656326234340667,
+              0.7688523530960083
+            ],
+            "min_active_finger_to_button": 0.1464132392603227,
+            "closest_active_finger": [
+              0.046334728598594666,
+              -0.35097813606262207,
+              0.8081270456314087
+            ],
+            "closest_active_finger_button": [
+              0.1876799166202545,
+              -0.3656137585639953,
+              0.772854208946228
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14134518802165982,
+              0.014635622501373236,
+              0.035272836685180664
+            ],
+            "min_contact_pad_to_button": 0.02129740802620971,
+            "closest_contact_pad": [
+              0.18756423890590662,
+              -0.36822142226655125,
+              0.7899918353328037
+            ],
+            "closest_contact_pad_button": [
+              0.18756423890590662,
+              -0.3656326234340667,
+              0.7688523530960083
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002588798832484529,
+              0.021139482236795404
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dd89aea52f28e7852497b851edbbcf8fbef5a3bb92bf0201440b6422b5d5a9e0",
+    "visual_seed": 5975429299655820687,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..82037a2433e5a55e3450e42f7e1161884a21db6d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_95_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33487630305391763,
+              0.0137161736295458,
+              0.9988195541581031
+            ],
+            "current_z": 0.9988195541581031,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14223304674953752,
+            "gripper_z": 0.9996246414083126,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3304635159641686,
+              0.009260973133587966,
+              0.9996246414083126
+            ],
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+              0.004412787089749015,
+              0.004455200495957835,
+              -0.0008050872502095574
+            ],
+            "object_to_gripper_xy": 0.006270685876252974,
+            "object_to_gripper_z": -0.0008050872502095574,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33487630305391763,
+              -0.010301660540664486,
+              0.9988195541581031
+            ],
+            "finger_b": [
+              0.32367785216865386,
+              0.0137161736295458,
+              0.9988195541581031
+            ],
+            "finger_midpoint": [
+              0.3292770776112858,
+              0.0017072565444406574,
+              0.9988195541581031
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012008917085105143,
+              0.0
+            ],
+            "finger_gap": 0.02650022000771665,
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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": 0.9988195541581031,
+            "object_top_z": 1.0441143070756933,
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+            "object_to_finger_line_xy": 0.010149445410158494,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0488665436803095,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.500742591289052,
+            "object_max_tilt_deg": 15.0,
+            "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_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1864385964359721,
+              0.3081363197134443,
+              0.7611064484101215
+            ],
+            "gripper_position": [
+              0.19338983585640568,
+              0.2779157284996995,
+              1.0406551438086966
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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": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "811c1160c95e1e8b17e176718a9576b0d547c1dc47af14f608663694f31f0c20",
+    "visual_seed": 8134948669829460228,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..974835dfc4571920040b94e1ac7b9a6213a0ded9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_96_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33362247179677523,
+              0.011422705212184513,
+              0.9972667182456564
+            ],
+            "current_z": 0.9972667182456564,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.14068015123244604,
+            "gripper_z": 0.9981820701924542,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32918131843282894,
+              0.006930350249078579,
+              0.9981820701924542
+            ],
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+              0.004441153363946293,
+              0.004492354963105934,
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+            ],
+            "object_to_gripper_xy": 0.006317048069837208,
+            "object_to_gripper_z": -0.0009153519467978155,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33362247179677523,
+              -0.012613652049676108,
+              0.9972667182456564
+            ],
+            "finger_b": [
+              0.3223679058916821,
+              0.011422705212184513,
+              0.9972667182456564
+            ],
+            "finger_midpoint": [
+              0.3279951888442287,
+              -0.0005954734187457976,
+              0.9972667182456564
+            ],
+            "object_minus_finger_midpoint": [
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+              0.01201817863093031,
+              0.0
+            ],
+            "finger_gap": 0.026540755907318917,
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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": 0.010192579588412373,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048820386431028276,
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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": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.30509377081856187,
+              0.7611065676194106
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+            "gripper_position": [
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+              0.2754941241820544,
+              1.0375432823548214
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+            "target_minus_gripper": [
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+              0.029599646636507493,
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+              0.2798489542139533,
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+            "held_minus_target": [
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+              0.004354830031898904,
+              -0.0011111520711659661
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+            "held_gripper_dist": 0.006385084357724324,
+            "max_held_gripper_dist": 0.006406217476641405,
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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": 120.3431452130165,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.515293251403855,
+            "max_source_tilt_deg": 89.66061091450469,
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+            "max_source_upright_tilt_deg": 89.81741560132193,
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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": 2.515293251403855,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.332000937312528e-08,
+            "max_target_xy_drift": 9.424321830774485e-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_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_a",
+              "raw_target_position": [
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+                0.3051,
+                0.7611
+              ],
+              "controller_target_position": [
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+                0.3051,
+                0.7611
+              ],
+              "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": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+              "source_pose_held_object": "beaker_b",
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+              "wrist_compensated_return_position": -1.6154398918151855
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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_a",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "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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+            "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,
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_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": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3345496379054703,
+              -0.30896562249670884,
+              0.851539543409462
+            ],
+            "target_position": [
+              0.32655597876945885,
+              -0.3106127224118956,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00816158835725913,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18276090234782108,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539543409462,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514938872201127,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08688495856871241,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15199396183449407,
+            "release_required_pad_clearance": 0.053442479284356206,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8987142713381062,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00755387544631958,
+            "max_z_decrease": 0.00755387544631958,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034998797279778275,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00755387544631958,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021358879222714334,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00755387544631958,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007554294677582964,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18225590884685516,
+              -0.36687418818473816,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18225590884685516,
+              -0.36687418818473816,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1819986915418704,
+              -0.36781148004178255,
+              0.8078676331541779
+            ],
+            "closest_button": [
+              0.18221966922283173,
+              -0.36688923835754395,
+              0.7728816866874695
+            ],
+            "closest_ee_minus_button": [
+              -0.0002209776809613262,
+              -0.0009222416842386005,
+              0.034985946466708384
+            ],
+            "button_min_z_position": [
+              0.18217650055885315,
+              -0.36687949299812317,
+              0.7692549824714661
+            ],
+            "min_active_finger_to_button": 0.14612498390769496,
+            "closest_active_finger": [
+              0.04121366888284683,
+              -0.3516801595687866,
+              0.8080045580863953
+            ],
+            "closest_active_finger_button": [
+              0.1822696179151535,
+              -0.3668825328350067,
+              0.7730100154876709
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14105594903230667,
+              0.015202373266220093,
+              0.034994542598724365
+            ],
+            "min_contact_pad_to_button": 0.021358879222714334,
+            "closest_contact_pad": [
+              0.18217650055885315,
+              -0.368948117817658,
+              0.7905134516780318
+            ],
+            "closest_contact_pad_button": [
+              0.18217650055885315,
+              -0.36687949299812317,
+              0.7692549824714661
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020686248195348478,
+              0.02125846920656571
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "910f62d044fc058e7dc3ac243af720839a282a76ac018a5cc33279b502acd409",
+    "visual_seed": 3889348846063808371,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fe254139c31d6ee5a9afbc5f2c3155f9c644230
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_97_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+            "lift_margin": 0.1409383281790061,
+            "gripper_z": 0.998382048947219,
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+            "gripper_position": [
+              0.33100711475869027,
+              0.005938807422996406,
+              0.998382048947219
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+              0.004521242365460074,
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+            "object_to_gripper_z": -0.0008572729642921662,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.33552557850975356,
+              -0.013657670147536369,
+              0.9975247759829269
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+            "finger_b": [
+              0.3242639945637218,
+              0.01046004978845648,
+              0.9975247759829269
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+            "finger_midpoint": [
+              0.32989478653673765,
+              -0.0015988101795399445,
+              0.9975247759829269
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+              0.012058859967996424,
+              0.0
+            ],
+            "finger_gap": 0.02661743203024115,
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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": 0.8209943868577229,
+            "object_to_finger_line_xy": 0.010203979382289285,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04871912361170623,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3125764294364086,
+            "object_max_tilt_deg": 15.0,
+            "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_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
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+            "max_z_decrease": 0.007510840892791748,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035029803467392255,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007510840892791748,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02123106761463056,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007510840892791748,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007511419725999541,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18056337535381306,
+              -0.3600953221321105,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18056337535381306,
+              -0.3600953221321105,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18084290717625012,
+              -0.35821010444001844,
+              0.8046887085160336
+            ],
+            "closest_button": [
+              0.18047867715358723,
+              -0.3601050078868865,
+              0.7697120904922485
+            ],
+            "closest_ee_minus_button": [
+              0.0003642300226628925,
+              0.001894903446868046,
+              0.034976618023785044
+            ],
+            "button_min_z_position": [
+              0.18047067523002613,
+              -0.3601054251193999,
+              0.7692980170249939
+            ],
+            "min_active_finger_to_button": 0.14486185767284812,
+            "closest_active_finger": [
+              0.05417446047067642,
+              -0.4216631054878235,
+              0.8077725172042847
+            ],
+            "closest_active_finger_button": [
+              0.1805860698223113,
+              -0.36010387539863575,
+              0.7729081511497498
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12641160935163487,
+              -0.06155923008918773,
+              0.03486436605453491
+            ],
+            "min_contact_pad_to_button": 0.02123106761463056,
+            "closest_contact_pad": [
+              0.18047867715358723,
+              -0.3601050078868865,
+              0.7909431581068791
+            ],
+            "closest_contact_pad_button": [
+              0.18047867715358723,
+              -0.3601050078868865,
+              0.7697120904922485
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02123106761463056
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d0fd52b47e387855295a9e31f24103c81c63c9b7509c7b9ac42f27b4fb5a0aa1",
+    "visual_seed": 5905249534014636202,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b7f5269b636c275940fc7eb0ccbcfcc9b0edb85
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_98_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33901403646646877,
+              0.010495184206302938,
+              0.9988730741524751
+            ],
+            "current_z": 0.9988730741524751,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.14228668595319904,
+            "gripper_z": 0.9998665300213012,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3346199265078093,
+              0.006171672124613656,
+              0.9998665300213012
+            ],
+            "object_minus_gripper": [
+              0.0043941099586594645,
+              0.004323512081689282,
+              -0.0009934558688261541
+            ],
+            "object_to_gripper_xy": 0.006164491791648641,
+            "object_to_gripper_z": -0.0009934558688261541,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33901403646646877,
+              -0.013774906972144231,
+              0.9988730741524751
+            ],
+            "finger_b": [
+              0.32836394666447455,
+              0.010495184206302938,
+              0.9988730741524751
+            ],
+            "finger_midpoint": [
+              0.33368899156547166,
+              -0.0016398613829206468,
+              0.9988730741524751
+            ],
+            "object_minus_finger_midpoint": [
+              0.005325044900997111,
+              0.012135045589223584,
+              0.0
+            ],
+            "finger_gap": 0.026503994766839966,
+            "fingertip_max_gap": 0.0932448447577082,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9988730741524751,
+            "object_top_z": 1.0442177780911686,
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+            "fingertip_min_top_clearance": 0.013603411181608049,
+            "object_projection_between_fingers": 0.8385329669107882,
+            "object_to_finger_line_xy": 0.009752441200918172,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0491224223788541,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8622329088061496,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18398319799561108,
+              0.3035889025495952,
+              0.7611065080147662
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+            "gripper_position": [
+              0.18945827973058083,
+              0.2746105848990497,
+              1.0391928334948692
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+            "target_minus_gripper": [
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+              0.028978317650545482,
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+            "held_minus_target": [
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+              0.2769514239090839
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+            "held_minus_gripper": [
+              0.004337017266358878,
+              0.004348321531984389,
+              -0.0011349015710191424
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+            "xy_dist": 0.029491005643424828,
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+            "held_gripper_dist": 0.0062454479815395,
+            "max_held_gripper_dist": 0.006248491943266455,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7611065080147662,
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+            "required_height": 0.7911065080147662,
+            "gripper_z": 1.0391928334948692,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.39163955612358,
+            "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": 3.697860319943196,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.1400937306653485,
+            "max_source_tilt_deg": 89.64766749532826,
+            "source_upright_tilt_deg": 3.6727020608437577,
+            "max_source_upright_tilt_deg": 89.89072493693924,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": 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": 1.1400937306653485,
+            "source_upright_return_tilt_deg": 3.6727020608437577,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 0.0,
+            "max_target_xy_drift": 0.0,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "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_a",
+              "raw_target_position": [
+                0.184,
+                0.3036,
+                0.7611
+              ],
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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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",
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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/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": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32996003367380355,
+              -0.3092465645744196,
+              0.8515395079759127
+            ],
+            "target_position": [
+              0.3261992288277148,
+              -0.3092367917262844,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0037608175439557533,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18322395201726058,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395079759127,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549222565435897,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09091869427342823,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1512647077809385,
+            "release_required_pad_clearance": 0.05545934713671412,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.055135040589434,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007417023181915283,
+            "max_z_decrease": 0.007417023181915283,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501125664497541,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007417023181915283,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021249311386184463,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007417023181915283,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00741769707795143,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18189916014671326,
+              -0.3654982447624206,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18189916014671326,
+              -0.3654982447624206,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1811339003985827,
+              -0.3659169152870493,
+              0.808089297534075
+            ],
+            "closest_button": [
+              0.18191611766815186,
+              -0.36551818251609797,
+              0.7730890512466431
+            ],
+            "closest_ee_minus_button": [
+              -0.0007822172695691465,
+              -0.00039873277095131554,
+              0.035000246287431924
+            ],
+            "button_min_z_position": [
+              0.18180671334266663,
+              -0.365536332130432,
+              0.7693918347358704
+            ],
+            "min_active_finger_to_button": 0.14712991320203894,
+            "closest_active_finger": [
+              0.04008609056472778,
+              -0.34851962327957153,
+              0.808437705039978
+            ],
+            "closest_active_finger_button": [
+              0.1819273829460144,
+              -0.3655176758766173,
+              0.7732336521148682
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14184129238128662,
+              0.016998052597045787,
+              0.03520405292510986
+            ],
+            "min_contact_pad_to_button": 0.021249311386184463,
+            "closest_contact_pad": [
+              0.18180671334266663,
+              -0.36750155285765407,
+              0.7905500752553541
+            ],
+            "closest_contact_pad_button": [
+              0.18180671334266663,
+              -0.365536332130432,
+              0.7693918347358704
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00196522072722205,
+              0.021158240519483784
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ddf75fef461e692a28bc51e565e1ec0f6d212a8903f269b6c14700952ee9973b",
+    "visual_seed": 6880355554084415598,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bcc24d489f84405cf32362f4df98216550138b6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_99_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+          "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",
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+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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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": [],
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+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533385897487991,
+            "release_required_pad_clearance": 0.05313945210980835,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.304442063076278,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00758516788482666,
+            "max_z_decrease": 0.00758516788482666,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506667618438648,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00758516788482666,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021425113774831184,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00758516788482666,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0075858340381694,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17976312339305867,
+              -0.36403748393058777,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17976312339305867,
+              -0.36403748393058777,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1778642617721106,
+              -0.36545323790542067,
+              0.8070182098799743
+            ],
+            "closest_button": [
+              0.17974773049354545,
+              -0.3640407621860504,
+              0.7720306515693665
+            ],
+            "closest_ee_minus_button": [
+              -0.0018834687214348556,
+              -0.0014124757193702542,
+              0.03498755831060785
+            ],
+            "button_min_z_position": [
+              0.17966385185718528,
+              -0.364053338766098,
+              0.769223690032959
+            ],
+            "min_active_finger_to_button": 0.14796481427801714,
+            "closest_active_finger": [
+              0.036878302693367004,
+              -0.34829485416412354,
+              0.8077815175056458
+            ],
+            "closest_active_finger_button": [
+              0.17978678643703452,
+              -0.3640517890453338,
+              0.7728176712989807
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14290848374366752,
+              0.01575693488121027,
+              0.03496384620666504
+            ],
+            "min_contact_pad_to_button": 0.021425113774831184,
+            "closest_contact_pad": [
+              0.17966385185718528,
+              -0.36690155764860255,
+              0.790458641162213
+            ],
+            "closest_contact_pad_button": [
+              0.17966385185718528,
+              -0.364053338766098,
+              0.769223690032959
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028482188825045274,
+              0.021234951129254
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4252118656959509958,
+    "physical_seed": 2959473296244006602,
+    "layout_id": "layout_00042",
+    "step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "workflow_spec_digest": "bebf2b2cddb5aad9053dddf3ba26e031274233e2d4ccd5631407afde3a99f282",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "403ff04cba9580ec4287632f66cbd83a12ae8909eb5eab886a1bff3d0cc96dfb",
+    "visual_seed": 5430555505976352278,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3319501461492575968,
+      946050603527827413,
+      3071531141632112857,
+      9008182816210822962,
+      3857288806585659842,
+      6629719022278410558
+    ],
+    "runtime_workflow_digest": "b05aaffb3b067c05c70a9ff6ff2086f3a4075ab96f039daf38381b0674a77649"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdd38491b12991eaf2f313b38f3d96be54dcff25
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/episode_9_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3399858471954989,
+              0.01570586157317047,
+              0.9968925206993785
+            ],
+            "current_z": 0.9968925206993785,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.14030595368616805,
+            "gripper_z": 0.997512671130014,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33558465117803016,
+              0.01132342713347674,
+              0.997512671130014
+            ],
+            "object_minus_gripper": [
+              0.004401196017468745,
+              0.00438243443969373,
+              -0.0006201504306354577
+            ],
+            "object_to_gripper_xy": 0.0062109788280428424,
+            "object_to_gripper_z": -0.0006201504306354577,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3399858471954989,
+              -0.008437770664459584,
+              0.9968925206993785
+            ],
+            "finger_b": [
+              0.32906702983228464,
+              0.01570586157317047,
+              0.9968925206993785
+            ],
+            "finger_midpoint": [
+              0.33452643851389174,
+              0.0036340454543554437,
+              0.9968925206993785
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054594086816071585,
+              0.012071816118815026,
+              0.0
+            ],
+            "finger_gap": 0.02649784048252156,
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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": 0.9968925206993785,
+            "object_top_z": 1.0421248669027725,
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+            "fingertip_min_top_clearance": 0.013569703861018233,
+            "object_projection_between_fingers": 0.8302029108610717,
+            "object_to_finger_line_xy": 0.009948731899913974,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04876663252286369,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4902096413031627,
+            "object_max_tilt_deg": 15.0,
+            "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_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00042/results/summary.json
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+  "published_successes": 97,
+  "published_failures": 0,
+  "matched_success_results": 97
+}
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