diff --git a/src/brittle_star_project/environment/obs_processing_tmp.py b/src/brittle_star_project/environment/obs_processing_tmp.py
new file mode 100644
index 0000000..e2c6c82
--- /dev/null
+++ b/src/brittle_star_project/environment/obs_processing_tmp.py
@@ -0,0 +1,17 @@
+obs = {}
+segs = set()
+joints = set()
+
+for key, arr in obs.items():
+    if key in segs:
+        # padding using mask 1x
+        pass
+    elif key in joints:
+        # padding using mask 2x
+        pass
+    else:
+        # no padding
+        pass
+
+    # reshape according to segs, joints, or global
+    pass
diff --git a/tmp.txt b/tmp.txt
new file mode 100644
index 0000000..899a63b
--- /dev/null
+++ b/tmp.txt
@@ -0,0 +1,27 @@
+-- 5 arms, 1 disabled
+2026-05-08 14:21:57,035 - DEBUG - [INPUT] joint_actuator_force: (32,)
+2026-05-08 14:21:57,035 - DEBUG - [OUTPUT] joint_actuator_force: (32,)
+2026-05-08 14:21:57,035 - DEBUG - [INPUT] joint_position: (32,)
+2026-05-08 14:21:57,035 - DEBUG - [OUTPUT] joint_position: (32,)
+2026-05-08 14:21:57,036 - DEBUG - [INPUT] joint_velocity: (32,)
+2026-05-08 14:21:57,036 - DEBUG - [OUTPUT] joint_velocity: (32,)
+2026-05-08 14:21:57,036 - DEBUG - [INPUT] segment_contact: (16,)
+2026-05-08 14:21:57,036 - DEBUG - [OUTPUT] segment_contact: (16,)
+2026-05-08 14:21:57,036 - DEBUG - [INPUT] disk_z_tilt: ()
+2026-05-08 14:21:57,036 - DEBUG - [OUTPUT] disk_z_tilt: (1,)
+2026-05-08 14:21:57,036 - DEBUG - [INPUT] robot_direction_to_target: (2,)
+2026-05-08 14:21:57,036 - DEBUG - [OUTPUT] robot_direction_to_target: (2,)
+
+-- 5 arms, none disabled
+2026-05-08 14:27:04,472 - DEBUG - [INPUT] joint_actuator_force: (40,)
+2026-05-08 14:27:04,472 - DEBUG - [OUTPUT] joint_actuator_force: (40,)
+2026-05-08 14:27:04,472 - DEBUG - [INPUT] joint_position: (40,)
+2026-05-08 14:27:04,472 - DEBUG - [OUTPUT] joint_position: (40,)
+2026-05-08 14:27:04,473 - DEBUG - [INPUT] joint_velocity: (40,)
+2026-05-08 14:27:04,473 - DEBUG - [OUTPUT] joint_velocity: (40,)
+2026-05-08 14:27:04,473 - DEBUG - [INPUT] segment_contact: (20,)
+2026-05-08 14:27:04,473 - DEBUG - [OUTPUT] segment_contact: (20,)
+2026-05-08 14:27:04,473 - DEBUG - [INPUT] disk_z_tilt: ()
+2026-05-08 14:27:04,473 - DEBUG - [OUTPUT] disk_z_tilt: (1,)
+2026-05-08 14:27:04,474 - DEBUG - [INPUT] robot_direction_to_target: (2,)
+2026-05-08 14:27:04,474 - DEBUG - [OUTPUT] robot_direction_to_target: (2,)
\ No newline at end of file
diff --git a/vids/evaluation_metadata.yaml b/vids/evaluation_metadata.yaml
new file mode 100644
index 0000000..0f59928
--- /dev/null
+++ b/vids/evaluation_metadata.yaml
@@ -0,0 +1,9 @@
+timestamp: '2026-05-07T20:43:29.612567'
+morphology_override: null
+seed: 1
+max_steps: 10000
+result:
+  return: 0.40030128204863225
+  length: 6705
+  reached_target: true
+  final_xy_dist: 0.19969871795136748
diff --git a/vids/simulation.mp4 b/vids/simulation.mp4
new file mode 100644
index 0000000..9c6c807
Binary files /dev/null and b/vids/simulation.mp4 differ