{
  "background": {
    "accent_color_rgb": [
      0.8795146106753896,
      0.5338344405246602,
      0.1599644854531151
    ],
    "cabinet_color_rgb": [
      0.5005183907770949,
      0.635812551924855,
      0.5902928264784715
    ],
    "floor_color_rgb": [
      0.21264984529122075,
      0.26043851988367217,
      0.2518088928404205
    ],
    "screen_color_rgb": [
      0.339247542587502,
      0.6963741371672736,
      0.6794208900990292
    ],
    "style": "wet_lab",
    "wall_color_rgb": [
      0.6784790710402755,
      0.788105940642846,
      0.7680862692358422
    ]
  },
  "camera_calibration": {
    "K_px": [
      [
        1000.0000000000001,
        0.0,
        960.0
      ],
      [
        0.0,
        1000.0000000000001,
        600.0
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ],
    "T_camera_from_world": [
      [
        0.9941431609633316,
        -0.050371159170527244,
        0.09561444364557488,
        -0.13621816616963933
      ],
      [
        0.04615070711837635,
        -0.6021328411238784,
        -0.7970609474014897,
        0.9842744682742511
      ],
      [
        0.09772148045496064,
        0.7968053639151181,
        -0.5962815813806319,
        2.012050955625201
      ],
      [
        0.0,
        0.0,
        0.0,
        1.0
      ]
    ],
    "T_world_from_camera": [
      [
        0.9941431609633316,
        0.04615070711837635,
        0.09772148045496064,
        -0.1066252025474199
      ],
      [
        -0.050371159170527244,
        -0.6021328411238784,
        0.7968053639151181,
        -1.0174104788150782
      ],
      [
        0.09561444364557488,
        -0.7970609474014897,
        -0.5962815813806319,
        1.9973000899971087
      ],
      [
        0.0,
        0.0,
        0.0,
        1.0
      ]
    ],
    "calibration_status": "approximate_reference_fit_not_metric_calibration",
    "clipping_range_m": [
      0.05,
      5.0
    ],
    "fixed_across_episodes": true,
    "lens_model": "pinhole_zero_distortion",
    "optical_frame": "ROS/OpenCV: +X right, +Y down, +Z forward; quaternions XYZW",
    "resolution_px": [
      1920,
      1200
    ],
    "rig_id": "zed_reference_20260908_v1",
    "view": "front",
    "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded"
  },
  "camera_calibration_status": "approximate_reference_fit_not_metric_calibration",
  "camera_coverage": {
    "all_views_before_physics_release": true,
    "at_least_one_view_every_frame": true,
    "occlusion_tested": false,
    "per_view_in_frame_fraction": {
      "front": 1.0,
      "left": 1.0,
      "right": 1.0
    },
    "policy": "Full tube envelope in all views during controlled motion; after free release at least one view. Per-frame masks disclose any view exits."
  },
  "camera_eye": [
    -0.1066252025474199,
    -1.0174104788150782,
    1.9973000899971087
  ],
  "camera_focal_length_mm": 10.9140625,
  "camera_orientation_xyzw": [
    0.8933864762055448,
    -0.001181026399144831,
    0.05410198420556066,
    -0.4460181438178333
  ],
  "camera_rig_id": "zed_reference_20260908_v1",
  "camera_sensor_verification": {
    "actual_K": [
      [
        1000.0,
        0.0,
        960.0
      ],
      [
        0.0,
        1000.0,
        600.0
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ],
    "actual_eye_m": [
      -0.10662519931793213,
      -1.0174105167388916,
      1.997300148010254
    ],
    "actual_quaternion_xyzw": [
      -0.8933864831924438,
      0.0011809766292572021,
      -0.05410196632146835,
      0.44601812958717346
    ],
    "valid": true
  },
  "camera_target": [
    -0.008903722092459265,
    -0.22060511489996004,
    1.4010185086164768
  ],
  "camera_view": "front",
  "distractors": [
    {
      "asset_id": "RES-001",
      "pitch_deg": 0.0,
      "position": [
        0.5247881679579658,
        -0.1842016446107973,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 1.0359109169020324,
      "yaw_deg": 124.62804173750078
    },
    {
      "asset_id": "PIP-005",
      "pitch_deg": 88.51416349005275,
      "position": [
        -0.7284268777905969,
        1.2756599927053067,
        0.8510586400480429
      ],
      "roll_deg": 0.0,
      "surface": "rear_bench",
      "uniform_scale": 0.8938539151323016,
      "yaw_deg": -117.91796645780485
    },
    {
      "asset_id": "AUX-TR-003",
      "pitch_deg": 0.0,
      "position": [
        -0.37723603033056025,
        -0.052864729170220004,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.847031886244776,
      "yaw_deg": 80.22637799232047
    },
    {
      "asset_id": "TIP-007",
      "pitch_deg": 0.0,
      "position": [
        -0.6421958322527047,
        0.036053070814371646,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 1.037464642428005,
      "yaw_deg": 121.47050044363328
    },
    {
      "asset_id": "TIP-006",
      "pitch_deg": 0.0,
      "position": [
        0.2741775327338891,
        1.1500624999562463,
        0.83
      ],
      "roll_deg": 0.0,
      "surface": "rear_bench",
      "uniform_scale": 1.0147176596786749,
      "yaw_deg": -92.47959079193107
    },
    {
      "asset_id": "RES-008",
      "pitch_deg": 0.0,
      "position": [
        -0.7250782170480712,
        1.106792363194861,
        0.83
      ],
      "roll_deg": 0.0,
      "surface": "rear_bench",
      "uniform_scale": 0.9001766029853477,
      "yaw_deg": -42.616978505754304
    },
    {
      "asset_id": "SBI-005",
      "pitch_deg": 0.0,
      "position": [
        0.8424283667945989,
        1.042669282768898,
        0.83
      ],
      "roll_deg": 0.0,
      "surface": "rear_bench",
      "uniform_scale": 0.9167563371683158,
      "yaw_deg": 93.5266626452792
    },
    {
      "asset_id": "AUX-TR-004",
      "pitch_deg": 0.0,
      "position": [
        -0.10856078719182427,
        0.22173503907081832,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 1.1674941019058678,
      "yaw_deg": -127.17636207797962
    }
  ],
  "duration_s": 14.725804111863702,
  "episode_id": 0,
  "error_type": "cap_open",
  "frame_count": 442,
  "generation_success": true,
  "light_color_rgb": [
    0.9229104990714262,
    0.92,
    0.92
  ],
  "light_intensity": 2201.1943560359246,
  "liquid": {
    "color_rgb": [
      0.06675866291041486,
      0.2617250706447964,
      0.35596702387436147
    ],
    "fill_fraction": 0.4201529787443928,
    "opacity": 0.9006594291833079,
    "vortex_level_rise_fraction": 0.2129460173627798
  },
  "metadata_schema_version": 2,
  "outcome": "failure",
  "physics_scene_count": 1,
  "rack_flip": {
    "angular_speed_rad_s": 2.265084006457064,
    "direction_azimuth_deg": 153.86880474485787,
    "lateral_speed_mps": 0.025022431521060665,
    "phase": "lower_to_rack",
    "phase_fraction": 0.8013113006860006,
    "release_clearance_m": 0.009833611748817639,
    "release_tilt_deg": 111.74957168586434,
    "stage": "insertion",
    "tip_duration_s": 0.37429159887882785,
    "trigger_time_s": 13.28941313931362,
    "tube_detach_fraction": 0.5773672631222263,
    "tube_engagement_fraction": 0.36115761262469015,
    "tube_on_rack": true,
    "upward_speed_mps": 0.08892232288702598
  },
  "rack_id": "TR-002",
  "rack_position": [
    0.33444371308245036,
    0.23847946795669067,
    0.79
  ],
  "rack_yaw_deg": 42.40580842909746,
  "randomization_results": {
    "assets": {
      "rack_id": "TR-002",
      "source_tube_has_cap": true,
      "tube_cap_present": false,
      "tube_id": "CT-005",
      "vortex_id": "VTX-002"
    },
    "distractors": {
      "count": 8,
      "placements": [
        {
          "asset_id": "RES-001",
          "pitch_deg": 0.0,
          "position": [
            0.5247881679579658,
            -0.1842016446107973,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 1.0359109169020324,
          "yaw_deg": 124.62804173750078
        },
        {
          "asset_id": "PIP-005",
          "pitch_deg": 88.51416349005275,
          "position": [
            -0.7284268777905969,
            1.2756599927053067,
            0.8510586400480429
          ],
          "roll_deg": 0.0,
          "surface": "rear_bench",
          "uniform_scale": 0.8938539151323016,
          "yaw_deg": -117.91796645780485
        },
        {
          "asset_id": "AUX-TR-003",
          "pitch_deg": 0.0,
          "position": [
            -0.37723603033056025,
            -0.052864729170220004,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.847031886244776,
          "yaw_deg": 80.22637799232047
        },
        {
          "asset_id": "TIP-007",
          "pitch_deg": 0.0,
          "position": [
            -0.6421958322527047,
            0.036053070814371646,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 1.037464642428005,
          "yaw_deg": 121.47050044363328
        },
        {
          "asset_id": "TIP-006",
          "pitch_deg": 0.0,
          "position": [
            0.2741775327338891,
            1.1500624999562463,
            0.83
          ],
          "roll_deg": 0.0,
          "surface": "rear_bench",
          "uniform_scale": 1.0147176596786749,
          "yaw_deg": -92.47959079193107
        },
        {
          "asset_id": "RES-008",
          "pitch_deg": 0.0,
          "position": [
            -0.7250782170480712,
            1.106792363194861,
            0.83
          ],
          "roll_deg": 0.0,
          "surface": "rear_bench",
          "uniform_scale": 0.9001766029853477,
          "yaw_deg": -42.616978505754304
        },
        {
          "asset_id": "SBI-005",
          "pitch_deg": 0.0,
          "position": [
            0.8424283667945989,
            1.042669282768898,
            0.83
          ],
          "roll_deg": 0.0,
          "surface": "rear_bench",
          "uniform_scale": 0.9167563371683158,
          "yaw_deg": 93.5266626452792
        },
        {
          "asset_id": "AUX-TR-004",
          "pitch_deg": 0.0,
          "position": [
            -0.10856078719182427,
            0.22173503907081832,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 1.1674941019058678,
          "yaw_deg": -127.17636207797962
        }
      ]
    },
    "environment": {
      "background": {
        "accent_color_rgb": [
          0.8795146106753896,
          0.5338344405246602,
          0.1599644854531151
        ],
        "cabinet_color_rgb": [
          0.5005183907770949,
          0.635812551924855,
          0.5902928264784715
        ],
        "floor_color_rgb": [
          0.21264984529122075,
          0.26043851988367217,
          0.2518088928404205
        ],
        "screen_color_rgb": [
          0.339247542587502,
          0.6963741371672736,
          0.6794208900990292
        ],
        "style": "wet_lab",
        "wall_color_rgb": [
          0.6784790710402755,
          0.788105940642846,
          0.7680862692358422
        ]
      },
      "camera_calibration": {
        "K_px": [
          [
            1000.0000000000001,
            0.0,
            960.0
          ],
          [
            0.0,
            1000.0000000000001,
            600.0
          ],
          [
            0.0,
            0.0,
            1.0
          ]
        ],
        "T_camera_from_world": [
          [
            0.9941431609633316,
            -0.050371159170527244,
            0.09561444364557488,
            -0.13621816616963933
          ],
          [
            0.04615070711837635,
            -0.6021328411238784,
            -0.7970609474014897,
            0.9842744682742511
          ],
          [
            0.09772148045496064,
            0.7968053639151181,
            -0.5962815813806319,
            2.012050955625201
          ],
          [
            0.0,
            0.0,
            0.0,
            1.0
          ]
        ],
        "T_world_from_camera": [
          [
            0.9941431609633316,
            0.04615070711837635,
            0.09772148045496064,
            -0.1066252025474199
          ],
          [
            -0.050371159170527244,
            -0.6021328411238784,
            0.7968053639151181,
            -1.0174104788150782
          ],
          [
            0.09561444364557488,
            -0.7970609474014897,
            -0.5962815813806319,
            1.9973000899971087
          ],
          [
            0.0,
            0.0,
            0.0,
            1.0
          ]
        ],
        "calibration_status": "approximate_reference_fit_not_metric_calibration",
        "clipping_range_m": [
          0.05,
          5.0
        ],
        "fixed_across_episodes": true,
        "lens_model": "pinhole_zero_distortion",
        "optical_frame": "ROS/OpenCV: +X right, +Y down, +Z forward; quaternions XYZW",
        "resolution_px": [
          1920,
          1200
        ],
        "rig_id": "zed_reference_20260908_v1",
        "view": "front",
        "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded"
      },
      "camera_eye_m": [
        -0.1066252025474199,
        -1.0174104788150782,
        1.9973000899971087
      ],
      "camera_focal_length_mm": 10.9140625,
      "camera_target_m": [
        -0.008903722092459265,
        -0.22060511489996004,
        1.4010185086164768
      ],
      "light_color_rgb": [
        0.9229104990714262,
        0.92,
        0.92
      ],
      "light_intensity": 2201.1943560359246,
      "table_color_rgb": [
        0.18,
        0.48,
        0.28
      ]
    },
    "layout": {
      "rack_position_m": [
        0.33444371308245036,
        0.23847946795669067,
        0.79
      ],
      "rack_to_vortex_bearing_deg": -101.67553510426781,
      "rack_to_vortex_distance_m": 0.48232751037600236,
      "rack_yaw_deg": 42.40580842909746,
      "return_slot_offset_xy_m": [
        0.034,
        -0.034
      ],
      "returns_to_different_slot": false,
      "start_slot_offset_xy_m": [
        0.034,
        -0.034
      ],
      "tube_return_position_m": [
        0.3824776967165866,
        0.23630313704537947,
        0.8152000000000001
      ],
      "tube_start_position_m": [
        0.3824776967165866,
        0.23630313704537947,
        0.8152000000000001
      ],
      "vortex_contact_position_m": [
        0.2448638533650595,
        -0.20656184187644888,
        0.9790000000000001
      ],
      "vortex_position_m": [
        0.23683550207768517,
        -0.23386835347362134,
        0.79
      ],
      "vortex_yaw_deg": -35.455336017443344
    },
    "liquid": {
      "color_rgb": [
        0.06675866291041486,
        0.2617250706447964,
        0.35596702387436147
      ],
      "effective_peak_level_fraction": 0.6330989961071726,
      "effective_vortex_level_rise_fraction": 0.2129460173627798,
      "fill_fraction": 0.4201529787443928,
      "opacity": 0.9006594291833079,
      "present": true,
      "vortex_level_rise_fraction": 0.2129460173627798
    },
    "rendering": {
      "motion_blur_enabled": true,
      "motion_blur_exposure_fraction": 0.75,
      "motion_blur_samples": 8,
      "physics_hz": 120,
      "render_fps": 30,
      "resolution": [
        1920,
        1200
      ]
    },
    "seed": 23260909,
    "trajectory": {
      "approach_pattern": "s_sway",
      "approach_sway_m": 0.0031576213232929456,
      "depart_pattern": "lean",
      "depart_sway_m": 0.004194210772556295,
      "handling_noise_amplitude_m": 0.0017782057212495247,
      "handling_noise_frequency_hz": 0.8668489824024191,
      "handling_noise_phase_xyz_rad": [
        1.6996044665511036,
        1.7734902334529614,
        1.0965243037089734
      ],
      "lift_height_m": 0.09877341717823356,
      "orientation_noise_deg": 0.7265087406926876,
      "outbound_curve_bias": -0.1819615606689421,
      "outbound_pattern": "wide_detour",
      "phase_boundaries_s": {
        "final_hold": [
          13.568321929035209,
          14.725804111863702
        ],
        "initial_hold": [
          0.0,
          0.7748815222331038
        ],
        "lift_from_rack": [
          0.7748815222331038,
          1.987915313855306
        ],
        "lower_to_rack": [
          12.164574304310904,
          13.568321929035209
        ],
        "lower_to_vortex": [
          3.8056299610364155,
          4.664399926034484
        ],
        "raise_from_vortex": [
          7.7715386670007005,
          8.895285902140778
        ],
        "transfer_to_rack": [
          8.895285902140778,
          12.164574304310904
        ],
        "transfer_to_vortex": [
          1.987915313855306,
          3.8056299610364155
        ],
        "vortex": [
          4.664399926034484,
          7.7715386670007005
        ]
      },
      "pick_line_azimuth_deg": 105.67483200442143,
      "pick_line_tilt_deg": 6.4674651051175935,
      "pick_pattern": "straight",
      "pick_sway_m": -0.0076649067474581015,
      "put_pattern": "straight",
      "put_sway_m": 0.009034131795254242,
      "rack_put_height_m": 0.3905928695122669,
      "return_bend_scale": 0.780772324222881,
      "return_curve_bias": 0.3946665539818832,
      "return_pattern": "direct",
      "return_side": 1.0,
      "return_vertical_arc_scale": 1.516993159374866,
      "transfer_bend_m": 0.1745785221204695,
      "transfer_side": -1.0,
      "transport_tilt_deg": 12.653521112045402,
      "vertical_arc_m": 0.2956946362953476,
      "vortex_apparent_frequency_hz": 10.111065252079058,
      "vortex_approach_height_m": 0.08637363389566814,
      "vortex_depart_height_m": 0.2511131233440358,
      "vortex_frequency_hz": 19.888934747920942,
      "vortex_phase_rad": 3.012933244592171,
      "vortex_radius_m": 0.000444089612046648,
      "vortex_tilt_deg": 0.4406587697818056
    }
  },
  "render_fps": 30,
  "resolution": [
    1920,
    1200
  ],
  "return_slot_offset_xy": [
    0.034,
    -0.034
  ],
  "scene_id": "cap_open/scene_000000",
  "schema_version": 15,
  "seed": 23260909,
  "shared_state_file": "shared_state.npz",
  "shared_state_sha256": "2644c4d64adc9c7dd4cd068b274996fa28051326941d1e9dcbdd9f3f3e3bb886",
  "simultaneous_camera_count": 3,
  "source_tube_has_cap": true,
  "start_slot_offset_xy": [
    0.034,
    -0.034
  ],
  "subtype_event": {
    "category": "cap_open",
    "event_phase": "whole_episode",
    "is_failure": true,
    "randomized_parameters": {
      "cap_removed_before_first_frame": true
    },
    "realized_outcome": {
      "cap_absent_for_entire_episode": true,
      "source_tube_has_cap": true,
      "tube_cap_present": false
    },
    "time_window_s": [
      0.0,
      14.725804111863702
    ]
  },
  "table_color_rgb": [
    0.18,
    0.48,
    0.28
  ],
  "task": "vortexing",
  "trajectory": {
    "approach_pattern": "s_sway",
    "approach_sway_m": 0.0031576213232929456,
    "depart_pattern": "lean",
    "depart_sway_m": 0.004194210772556295,
    "handling_noise_amplitude_m": 0.0017782057212495247,
    "handling_noise_frequency_hz": 0.8668489824024191,
    "handling_noise_phase_xyz_rad": [
      1.6996044665511036,
      1.7734902334529614,
      1.0965243037089734
    ],
    "lift_height_m": 0.09877341717823356,
    "orientation_noise_deg": 0.7265087406926876,
    "outbound_curve_bias": -0.1819615606689421,
    "outbound_pattern": "wide_detour",
    "phase_boundaries_s": {
      "final_hold": [
        13.568321929035209,
        14.725804111863702
      ],
      "initial_hold": [
        0.0,
        0.7748815222331038
      ],
      "lift_from_rack": [
        0.7748815222331038,
        1.987915313855306
      ],
      "lower_to_rack": [
        12.164574304310904,
        13.568321929035209
      ],
      "lower_to_vortex": [
        3.8056299610364155,
        4.664399926034484
      ],
      "raise_from_vortex": [
        7.7715386670007005,
        8.895285902140778
      ],
      "transfer_to_rack": [
        8.895285902140778,
        12.164574304310904
      ],
      "transfer_to_vortex": [
        1.987915313855306,
        3.8056299610364155
      ],
      "vortex": [
        4.664399926034484,
        7.7715386670007005
      ]
    },
    "pick_line_azimuth_deg": 105.67483200442143,
    "pick_line_tilt_deg": 6.4674651051175935,
    "pick_pattern": "straight",
    "pick_sway_m": -0.0076649067474581015,
    "put_pattern": "straight",
    "put_sway_m": 0.009034131795254242,
    "rack_put_height_m": 0.3905928695122669,
    "return_bend_scale": 0.780772324222881,
    "return_curve_bias": 0.3946665539818832,
    "return_pattern": "direct",
    "return_side": 1.0,
    "return_vertical_arc_scale": 1.516993159374866,
    "transfer_bend_m": 0.1745785221204695,
    "transfer_side": -1.0,
    "transport_tilt_deg": 12.653521112045402,
    "vertical_arc_m": 0.2956946362953476,
    "vortex_apparent_frequency_hz": 10.111065252079058,
    "vortex_approach_height_m": 0.08637363389566814,
    "vortex_depart_height_m": 0.2511131233440358,
    "vortex_frequency_hz": 19.888934747920942,
    "vortex_phase_rad": 3.012933244592171,
    "vortex_radius_m": 0.000444089612046648,
    "vortex_tilt_deg": 0.4406587697818056
  },
  "trajectory_validation": {
    "duration_s": 14.725804111863702,
    "final_position_error_m": 0.0,
    "finite": true,
    "max_boundary_angular_jump_deg": 0.0,
    "max_boundary_position_jump_m": 4.050792900924367e-16,
    "max_quaternion_norm_error": 1.1102230246251565e-16,
    "max_sample_step_m": 0.0033202168094975623,
    "valid": true,
    "wrong_orientation_contact_error_m": 0.0,
    "wrong_orientation_max_tilt_deg": 0.0,
    "wrong_orientation_min_tilt_deg": 0.0,
    "wrong_orientation_valid": true
  },
  "tube_cap_present": false,
  "tube_drop": {
    "phase": "transfer_to_vortex",
    "phase_fraction": 0.4455216268116422,
    "release_time_s": 2.797746500546784,
    "target_surface": "table",
    "vortex_release_azimuth_deg": 0.0,
    "vortex_release_offset_m": 0.0,
    "vortex_release_tilt_deg": 0.0
  },
  "tube_id": "CT-005",
  "tube_return_position": [
    0.3824776967165866,
    0.23630313704537947,
    0.8152000000000001
  ],
  "tube_start_position": [
    0.3824776967165866,
    0.23630313704537947,
    0.8152000000000001
  ],
  "video": "front.mp4",
  "video_sha256": "10c35f038d671d9337168e4dd30179ecdc6ce2d4d2e4a3fa0b71e673f466399b",
  "video_validation": {
    "actual_frame_count": 442,
    "content_valid": true,
    "decode_error": null,
    "expected_frame_count": 442,
    "frame_count_valid": true,
    "full_decode_frame_count": 442,
    "max_changed_pixel_fraction": 0.008203559027777777,
    "mean_luminance": 132.84234619140625,
    "motion_valid": true,
    "resolution_valid": true,
    "sampled_frame_indices": [
      0,
      74,
      147,
      220,
      294,
      368,
      441
    ],
    "spatial_standard_deviation": 35.52586364746094,
    "valid": true
  },
  "view_index": 1,
  "view_order": [
    "left",
    "front",
    "right"
  ],
  "vortex_contact_position": [
    0.2448638533650595,
    -0.20656184187644888,
    0.9790000000000001
  ],
  "vortex_id": "VTX-002",
  "vortex_position": [
    0.23683550207768517,
    -0.23386835347362134,
    0.79
  ],
  "vortex_yaw_deg": -35.455336017443344,
  "wrong_orientation": {
    "azimuth_deg": -152.5594288807624,
    "mode": "tilted",
    "tilt_deg_from_z": 43.14675477679552
  },
  "wrong_rack": {
    "hole_relation": "too_small",
    "insertion_depth_m": 0.0,
    "insertion_succeeds": false,
    "placement_outcome": "physx_drop_pending",
    "position": [
      0.6699197332614072,
      0.010620885823515613,
      0.79
    ],
    "rack_id": "TR-003",
    "release_azimuth_deg": -139.98394888394176,
    "release_lateral_offset_m": 0.017994773745998734,
    "release_phase_fraction": 0.6481897968820916,
    "release_tilt_deg": 33.49349629092047,
    "release_time_s": 13.07446919205467,
    "slot_offset_xy": [
      0.02,
      0.019
    ],
    "tube_target_position": [
      0.6953532971824282,
      0.021304229226932835,
      0.8500000000000001
    ],
    "yaw_deg": -20.74640648711162
  }
}