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+{"config": "d12", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d12", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d14", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d15", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d8", "seed": 40004, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40001, "success": false, "hard_success": false, "collision": true}
diff --git a/pi05/clutter/kitchenl/put_sauce_can_in_cabinet/_episodes.jsonl b/pi05/clutter/kitchenl/put_sauce_can_in_cabinet/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8424c9df6ebc2a1c9cbaa9bc8593f213eb76b816
--- /dev/null
+++ b/pi05/clutter/kitchenl/put_sauce_can_in_cabinet/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40010, "success": true, "hard_success": true, "collision": false}
+{"config": "d10", "seed": 40013, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40009, "success": true, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40010, "success": true, "hard_success": true, "collision": false}
+{"config": "d12", "seed": 40016, "success": true, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40017, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40005, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40017, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40010, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40022, "success": false, "hard_success": false, "collision": false}
+{"config": "d15", "seed": 40010, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40022, "success": false, "hard_success": false, "collision": false}
+{"config": "d6", "seed": 40003, "success": true, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40005, "success": false, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40003, "success": false, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40005, "success": true, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40003, "success": true, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40005, "success": true, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40010, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40013, "success": true, "hard_success": true, "collision": false}
diff --git a/pi05/clutter/pi05_clutter.csv b/pi05/clutter/pi05_clutter.csv
new file mode 100644
index 0000000000000000000000000000000000000000..724a6ae09b424efde2378edb104046034536fa1d
--- /dev/null
+++ b/pi05/clutter/pi05_clutter.csv
@@ -0,0 +1,81 @@
+scene,task,n,SR,HSR,CR
+kitchenl,move_bottle,20,55.0,55.0,40.0
+kitchenl,move_bottle_from_fridge_next_to_can,20,100.0,85.0,15.0
+kitchenl,move_can_from_cabinet_to_basket,20,30.0,25.0,30.0
+kitchenl,move_milk_close_fridge,20,20.0,20.0,40.0
+kitchenl,pick_bottle_from_fridge,20,100.0,45.0,55.0
+kitchenl,pick_boxdrink_from_basket,20,0.0,0.0,80.0
+kitchenl,pick_can_from_basket,20,90.0,0.0,100.0
+kitchenl,pick_can_from_cabinet,20,100.0,65.0,35.0
+kitchenl,pick_milk_box_from_fridge,20,100.0,95.0,5.0
+kitchenl,pick_sauce_can_from_cabinet,20,100.0,25.0,75.0
+kitchenl,put_bottle_in_basket,20,45.0,25.0,65.0
+kitchenl,put_bottle_in_fridge,20,15.0,5.0,85.0
+kitchenl,put_can_close_cabinet,20,90.0,55.0,35.0
+kitchenl,put_can_in_cabinet,20,70.0,40.0,60.0
+kitchenl,put_can_infront_of_microwave,20,50.0,45.0,15.0
+kitchenl,put_can_next_to_basket,20,60.0,50.0,20.0
+kitchenl,put_milk_box_in_fridge,20,60.0,25.0,70.0
+kitchenl,put_sauce_can_in_basket,20,80.0,70.0,15.0
+kitchenl,put_sauce_can_in_cabinet,20,75.0,45.0,45.0
+kitchenl,switch_can_with_bottle_in_basket,20,50.0,5.0,95.0
+kitchens,chain_apple_bin_bowl_rack_spoon_sink_ks,20,0.0,0.0,5.0
+kitchens,chain_apple_sink_plate_bread_board_ks,20,100.0,100.0,0.0
+kitchens,chain_bowl_rack_apple_sink_ks,22,0.0,0.0,18.2
+kitchens,chain_heat_hamburger_ks,19,57.9,52.6,26.3
+kitchens,chain_serve_hamburger_ks,15,46.7,33.3,40.0
+kitchens,close_microwave_ks,24,83.3,62.5,20.8
+kitchens,drop_apple_in_bin_ks,21,81.0,47.6,42.9
+kitchens,move_hamburger_onto_plate_ks,20,80.0,80.0,0.0
+kitchens,pick_apple_from_bowl_ks,20,85.0,70.0,15.0
+kitchens,pick_apple_from_sink_ks,22,68.2,59.1,22.7
+kitchens,pick_fork_from_sink_ks,20,100.0,85.0,15.0
+kitchens,pick_hamburger_from_microwave_ks,24,70.8,45.8,33.3
+kitchens,place_bowl_in_dishrack_ks,20,5.0,5.0,0.0
+kitchens,put_bowl_in_sink_ks,20,95.0,95.0,0.0
+kitchens,put_bread_on_board_ks,21,66.7,66.7,14.3
+kitchens,put_hamburger_in_microwave_ks,21,66.7,57.1,19.0
+kitchens,put_plate_in_sink_ks,20,45.0,45.0,5.0
+kitchens,put_spoon_in_dishrack_ks,20,25.0,25.0,0.0
+kitchens,put_spoon_in_sink_ks,20,100.0,100.0,0.0
+kitchens,put_spoon_on_plate_ks,20,80.0,80.0,0.0
+office,close_drawer,20,100.0,100.0,0.0
+office,move_items_around,20,5.0,5.0,75.0
+office,open_drawer,20,85.0,75.0,10.0
+office,organize_table,20,0.0,0.0,90.0
+office,put_book_in_fileholder,20,15.0,15.0,40.0
+office,put_book_on_book,20,55.0,55.0,10.0
+office,put_milktea_next_to_laptop,20,50.0,40.0,35.0
+office,put_milktea_on_shelf,20,15.0,10.0,65.0
+office,put_mouse_next_to_stapler,20,75.0,75.0,5.0
+office,put_mouse_on_pad,20,35.0,15.0,45.0
+office,put_phone_next_to_cube,20,60.0,30.0,55.0
+office,put_phone_on_holder,20,95.0,90.0,10.0
+office,put_rubikscube_in_drawer,20,80.0,75.0,5.0
+office,put_rubikscube_next_to_milktea,20,30.0,30.0,0.0
+office,put_stapler_in_drawer,20,75.0,45.0,50.0
+office,put_stapler_next_to_mouse,20,10.0,0.0,100.0
+office,put_stapler_on_book,20,95.0,95.0,0.0
+office,set_up_table,20,15.0,10.0,75.0
+office,store_rubikscube_on_shelf,20,30.0,20.0,60.0
+office,store_stapler_in_drawer,20,30.0,10.0,60.0
+study,empty_box,20,65.0,65.0,5.0
+study,move_book_onto_table,20,95.0,60.0,40.0
+study,move_cup,20,25.0,15.0,45.0
+study,move_cup_next_to_book,20,40.0,40.0,15.0
+study,move_cup_onto_table,20,80.0,75.0,5.0
+study,move_cup_put_pen_in_cup,20,40.0,40.0,40.0
+study,move_cups_into_box,20,50.0,35.0,40.0
+study,move_pen_to_box,19,89.5,15.8,73.7
+study,move_seal_cup_next_to_box,20,85.0,85.0,5.0
+study,move_seal_next_to_box,20,100.0,100.0,0.0
+study,move_seal_next_to_pencup,20,80.0,80.0,10.0
+study,move_seal_onto_book,20,90.0,50.0,40.0
+study,move_seal_onto_table,20,100.0,95.0,5.0
+study,put_cup_in_box,20,35.0,35.0,25.0
+study,put_cup_on_coaster,20,20.0,10.0,55.0
+study,put_cup_on_table,20,80.0,80.0,15.0
+study,put_glue_in_box,20,90.0,50.0,45.0
+study,put_pen_in_box,20,100.0,100.0,0.0
+study,put_pen_in_pencup,20,5.0,5.0,35.0
+study,put_seal_in_box,20,100.0,100.0,0.0