{
  "background": {
    "accent_color_rgb": [
      0.815931671476734,
      0.6904409871886203,
      0.1886396104523771
    ],
    "cabinet_color_rgb": [
      0.6471088283679646,
      0.6930718473086298,
      0.6454600269368403
    ],
    "floor_color_rgb": [
      0.2694199222843294,
      0.343800559662441,
      0.2970835114990829
    ],
    "screen_color_rgb": [
      0.2938668869711942,
      0.7297343939369418,
      0.8414196556591246
    ],
    "style": "biosafety",
    "wall_color_rgb": [
      0.7095154887181122,
      0.8198991507952041,
      0.8035337267752614
    ]
  },
  "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": "SBI-006",
      "pitch_deg": 0.0,
      "position": [
        0.004930025644649394,
        0.261507579686754,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.7945851007560868,
      "yaw_deg": -96.6310415435504
    },
    {
      "asset_id": "RES-008",
      "pitch_deg": 0.0,
      "position": [
        0.2800058132817006,
        -0.44339087020954143,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 1.09223598066716,
      "yaw_deg": 55.04935050538293
    },
    {
      "asset_id": "TIP-006",
      "pitch_deg": 0.0,
      "position": [
        0.45253587371284043,
        0.3202384392272227,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.9317142519154897,
      "yaw_deg": 161.93476106688604
    },
    {
      "asset_id": "RES-001",
      "pitch_deg": 0.0,
      "position": [
        -0.20383791177148314,
        -0.15677613893327924,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 1.1101346672285703,
      "yaw_deg": 147.67511131098235
    },
    {
      "asset_id": "SBI-005",
      "pitch_deg": 0.0,
      "position": [
        -0.6898087661300677,
        -0.23006810070910325,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.9480061631428791,
      "yaw_deg": 139.02835438401337
    },
    {
      "asset_id": "SBI-002",
      "pitch_deg": 0.0,
      "position": [
        0.09791209633644993,
        1.1602909797871994,
        0.83
      ],
      "roll_deg": 0.0,
      "surface": "rear_bench",
      "uniform_scale": 1.0867239102106945,
      "yaw_deg": -86.61427915118716
    },
    {
      "asset_id": "PIP-001",
      "pitch_deg": -91.59229490115224,
      "position": [
        -0.4954915716919279,
        -0.09325757593301381,
        0.8092019333538637
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 1.0904917407500665,
      "yaw_deg": 143.12068396833962
    },
    {
      "asset_id": "TIP-007",
      "pitch_deg": 0.0,
      "position": [
        0.6306424651414535,
        0.03113208518191174,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.959136804072195,
      "yaw_deg": 16.63259543580574
    },
    {
      "asset_id": "AUX-TR-003",
      "pitch_deg": 0.0,
      "position": [
        -0.5684039625905245,
        0.12250023903897106,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 1.1775823685297462,
      "yaw_deg": -152.21252037395345
    },
    {
      "asset_id": "TIP-008",
      "pitch_deg": 0.0,
      "position": [
        0.3290929322539241,
        0.047670450266698694,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 1.1129215861750261,
      "yaw_deg": -123.40983202221125
    }
  ],
  "duration_s": 16.041007326165758,
  "episode_id": 5,
  "error_type": "wrong_orientation",
  "frame_count": 481,
  "generation_success": true,
  "light_color_rgb": [
    0.9633441982958504,
    0.92,
    0.92
  ],
  "light_intensity": 1645.6095771381292,
  "liquid": {
    "color_rgb": [
      0.38168641814661564,
      0.19213007814587016,
      0.04350990496346303
    ],
    "fill_fraction": 0.4811381812424759,
    "opacity": 0.8243214494530549,
    "vortex_level_rise_fraction": 0.21737982308975848
  },
  "metadata_schema_version": 2,
  "outcome": "failure",
  "physics_scene_count": 1,
  "rack_flip": {
    "angular_speed_rad_s": 2.498332859279347,
    "direction_azimuth_deg": 26.298356935691828,
    "lateral_speed_mps": 0.04760953161460374,
    "phase": "lower_to_rack",
    "phase_fraction": 0.7479327931484772,
    "release_clearance_m": 0.00615064928952414,
    "release_tilt_deg": 140.60013358603953,
    "stage": "insertion",
    "tip_duration_s": 0.4613692509685254,
    "trigger_time_s": 14.887288338777502,
    "tube_detach_fraction": 0.45214577638694864,
    "tube_engagement_fraction": 0.5208597693087349,
    "tube_on_rack": true,
    "upward_speed_mps": 0.04910679818284143
  },
  "rack_id": "TR-004",
  "rack_position": [
    -0.25986014126606827,
    0.08642150409053245,
    0.79
  ],
  "rack_yaw_deg": -43.689090213034056,
  "randomization_results": {
    "assets": {
      "rack_id": "TR-004",
      "source_tube_has_cap": true,
      "tube_cap_present": true,
      "tube_id": "CT-005",
      "vortex_id": "VTX-005"
    },
    "distractors": {
      "count": 10,
      "placements": [
        {
          "asset_id": "SBI-006",
          "pitch_deg": 0.0,
          "position": [
            0.004930025644649394,
            0.261507579686754,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.7945851007560868,
          "yaw_deg": -96.6310415435504
        },
        {
          "asset_id": "RES-008",
          "pitch_deg": 0.0,
          "position": [
            0.2800058132817006,
            -0.44339087020954143,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 1.09223598066716,
          "yaw_deg": 55.04935050538293
        },
        {
          "asset_id": "TIP-006",
          "pitch_deg": 0.0,
          "position": [
            0.45253587371284043,
            0.3202384392272227,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.9317142519154897,
          "yaw_deg": 161.93476106688604
        },
        {
          "asset_id": "RES-001",
          "pitch_deg": 0.0,
          "position": [
            -0.20383791177148314,
            -0.15677613893327924,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 1.1101346672285703,
          "yaw_deg": 147.67511131098235
        },
        {
          "asset_id": "SBI-005",
          "pitch_deg": 0.0,
          "position": [
            -0.6898087661300677,
            -0.23006810070910325,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.9480061631428791,
          "yaw_deg": 139.02835438401337
        },
        {
          "asset_id": "SBI-002",
          "pitch_deg": 0.0,
          "position": [
            0.09791209633644993,
            1.1602909797871994,
            0.83
          ],
          "roll_deg": 0.0,
          "surface": "rear_bench",
          "uniform_scale": 1.0867239102106945,
          "yaw_deg": -86.61427915118716
        },
        {
          "asset_id": "PIP-001",
          "pitch_deg": -91.59229490115224,
          "position": [
            -0.4954915716919279,
            -0.09325757593301381,
            0.8092019333538637
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 1.0904917407500665,
          "yaw_deg": 143.12068396833962
        },
        {
          "asset_id": "TIP-007",
          "pitch_deg": 0.0,
          "position": [
            0.6306424651414535,
            0.03113208518191174,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.959136804072195,
          "yaw_deg": 16.63259543580574
        },
        {
          "asset_id": "AUX-TR-003",
          "pitch_deg": 0.0,
          "position": [
            -0.5684039625905245,
            0.12250023903897106,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 1.1775823685297462,
          "yaw_deg": -152.21252037395345
        },
        {
          "asset_id": "TIP-008",
          "pitch_deg": 0.0,
          "position": [
            0.3290929322539241,
            0.047670450266698694,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 1.1129215861750261,
          "yaw_deg": -123.40983202221125
        }
      ]
    },
    "environment": {
      "background": {
        "accent_color_rgb": [
          0.815931671476734,
          0.6904409871886203,
          0.1886396104523771
        ],
        "cabinet_color_rgb": [
          0.6471088283679646,
          0.6930718473086298,
          0.6454600269368403
        ],
        "floor_color_rgb": [
          0.2694199222843294,
          0.343800559662441,
          0.2970835114990829
        ],
        "screen_color_rgb": [
          0.2938668869711942,
          0.7297343939369418,
          0.8414196556591246
        ],
        "style": "biosafety",
        "wall_color_rgb": [
          0.7095154887181122,
          0.8198991507952041,
          0.8035337267752614
        ]
      },
      "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": [
        0.9633441982958504,
        0.92,
        0.92
      ],
      "light_intensity": 1645.6095771381292,
      "table_color_rgb": [
        0.36,
        0.42,
        0.48
      ]
    },
    "layout": {
      "rack_position_m": [
        -0.25986014126606827,
        0.08642150409053245,
        0.79
      ],
      "rack_to_vortex_bearing_deg": -25.915851499244898,
      "rack_to_vortex_distance_m": 0.8520582443430819,
      "rack_yaw_deg": -43.689090213034056,
      "return_slot_offset_xy_m": [
        0.025,
        0.0
      ],
      "returns_to_different_slot": true,
      "start_slot_offset_xy_m": [
        -0.075,
        0.0
      ],
      "tube_return_position_m": [
        -0.2417826741435873,
        0.06915288566184453,
        0.8394
      ],
      "tube_start_position_m": [
        -0.31409254263351116,
        0.1382273593765962,
        0.8394
      ],
      "vortex_contact_position_m": [
        0.5383177290408273,
        -0.2637781656606365,
        0.9580000000000001
      ],
      "vortex_position_m": [
        0.5065124834308298,
        -0.2859711003851774,
        0.79
      ],
      "vortex_yaw_deg": -46.04416213383561
    },
    "liquid": {
      "color_rgb": [
        0.38168641814661564,
        0.19213007814587016,
        0.04350990496346303
      ],
      "effective_peak_level_fraction": 0.6985180043322344,
      "effective_vortex_level_rise_fraction": 0.21737982308975848,
      "fill_fraction": 0.4811381812424759,
      "opacity": 0.8243214494530549,
      "present": true,
      "vortex_level_rise_fraction": 0.21737982308975848
    },
    "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": 25310913,
    "trajectory": {
      "approach_pattern": "s_sway",
      "approach_sway_m": -0.004320885825550859,
      "depart_pattern": "straight",
      "depart_sway_m": -0.006497887315647943,
      "handling_noise_amplitude_m": 0.002581999976449769,
      "handling_noise_frequency_hz": 1.5916218182153483,
      "handling_noise_phase_xyz_rad": [
        2.7051164213770313,
        0.6133579835719546,
        2.9083625241878726
      ],
      "lift_height_m": 0.15993112910259297,
      "orientation_noise_deg": 7.428478012273073,
      "outbound_curve_bias": -0.5348336004374548,
      "outbound_pattern": "high_arc",
      "phase_boundaries_s": {
        "final_hold": [
          15.12399293697245,
          16.041007326165758
        ],
        "initial_hold": [
          0.0,
          1.1029266204368566
        ],
        "lift_from_rack": [
          1.1029266204368566,
          2.3324888974730613
        ],
        "lower_to_rack": [
          14.184939415685268,
          15.12399293697245
        ],
        "lower_to_vortex": [
          4.673272759353596,
          6.2187198570912
        ],
        "raise_from_vortex": [
          10.242732544243081,
          11.123920414559377
        ],
        "transfer_to_rack": [
          11.123920414559377,
          14.184939415685268
        ],
        "transfer_to_vortex": [
          2.3324888974730613,
          4.673272759353596
        ],
        "vortex": [
          6.2187198570912,
          10.242732544243081
        ]
      },
      "pick_line_azimuth_deg": -108.0504429100039,
      "pick_line_tilt_deg": 11.129279711614071,
      "pick_pattern": "lean",
      "pick_sway_m": 0.0021238988358128746,
      "put_pattern": "s_sway",
      "put_sway_m": -0.0033709476193953007,
      "rack_put_height_m": 0.3059560230027206,
      "return_bend_scale": 1.6270856256643733,
      "return_curve_bias": -0.1774011492191735,
      "return_pattern": "direct",
      "return_side": 1.0,
      "return_vertical_arc_scale": 0.9227126487201597,
      "transfer_bend_m": 0.23805709278182333,
      "transfer_side": -1.0,
      "transport_tilt_deg": 6.9156721283068325,
      "vertical_arc_m": 0.21895504422488143,
      "vortex_apparent_frequency_hz": 7.790740170305305,
      "vortex_approach_height_m": 0.3157499887412727,
      "vortex_depart_height_m": 0.1464750762983171,
      "vortex_frequency_hz": 37.790740170305305,
      "vortex_phase_rad": 1.6086643481629148,
      "vortex_radius_m": 0.000589384610706217,
      "vortex_tilt_deg": 0.8644507929304325
    }
  },
  "render_fps": 30,
  "resolution": [
    1920,
    1200
  ],
  "return_slot_offset_xy": [
    0.025,
    0.0
  ],
  "scene_id": "wrong_orientation/scene_000005",
  "schema_version": 15,
  "seed": 25310913,
  "shared_state_file": "shared_state.npz",
  "shared_state_sha256": "296019fbcfc203e6cf1e5daeb88515717c1f0f490bc383e1c40b42f32e886b69",
  "simultaneous_camera_count": 3,
  "source_tube_has_cap": true,
  "start_slot_offset_xy": [
    -0.075,
    0.0
  ],
  "subtype_event": {
    "category": "wrong_orientation",
    "event_phase": "vortex",
    "is_failure": true,
    "randomized_parameters": {
      "azimuth_deg": -120.53771950574628,
      "mode": "upside_down",
      "tilt_deg_from_z": 180.0
    },
    "realized_outcome": {
      "azimuth_deg": -120.53771950574628,
      "liquid_level_rise_enabled": true,
      "orientation_mode": "upside_down",
      "tilt_deg_from_z": 180.0,
      "vortex_motion_enabled": true
    },
    "time_window_s": [
      6.2187198570912,
      10.242732544243081
    ]
  },
  "table_color_rgb": [
    0.36,
    0.42,
    0.48
  ],
  "task": "vortexing",
  "trajectory": {
    "approach_pattern": "s_sway",
    "approach_sway_m": -0.004320885825550859,
    "depart_pattern": "straight",
    "depart_sway_m": -0.006497887315647943,
    "handling_noise_amplitude_m": 0.002581999976449769,
    "handling_noise_frequency_hz": 1.5916218182153483,
    "handling_noise_phase_xyz_rad": [
      2.7051164213770313,
      0.6133579835719546,
      2.9083625241878726
    ],
    "lift_height_m": 0.15993112910259297,
    "orientation_noise_deg": 7.428478012273073,
    "outbound_curve_bias": -0.5348336004374548,
    "outbound_pattern": "high_arc",
    "phase_boundaries_s": {
      "final_hold": [
        15.12399293697245,
        16.041007326165758
      ],
      "initial_hold": [
        0.0,
        1.1029266204368566
      ],
      "lift_from_rack": [
        1.1029266204368566,
        2.3324888974730613
      ],
      "lower_to_rack": [
        14.184939415685268,
        15.12399293697245
      ],
      "lower_to_vortex": [
        4.673272759353596,
        6.2187198570912
      ],
      "raise_from_vortex": [
        10.242732544243081,
        11.123920414559377
      ],
      "transfer_to_rack": [
        11.123920414559377,
        14.184939415685268
      ],
      "transfer_to_vortex": [
        2.3324888974730613,
        4.673272759353596
      ],
      "vortex": [
        6.2187198570912,
        10.242732544243081
      ]
    },
    "pick_line_azimuth_deg": -108.0504429100039,
    "pick_line_tilt_deg": 11.129279711614071,
    "pick_pattern": "lean",
    "pick_sway_m": 0.0021238988358128746,
    "put_pattern": "s_sway",
    "put_sway_m": -0.0033709476193953007,
    "rack_put_height_m": 0.3059560230027206,
    "return_bend_scale": 1.6270856256643733,
    "return_curve_bias": -0.1774011492191735,
    "return_pattern": "direct",
    "return_side": 1.0,
    "return_vertical_arc_scale": 0.9227126487201597,
    "transfer_bend_m": 0.23805709278182333,
    "transfer_side": -1.0,
    "transport_tilt_deg": 6.9156721283068325,
    "vertical_arc_m": 0.21895504422488143,
    "vortex_apparent_frequency_hz": 7.790740170305305,
    "vortex_approach_height_m": 0.3157499887412727,
    "vortex_depart_height_m": 0.1464750762983171,
    "vortex_frequency_hz": 37.790740170305305,
    "vortex_phase_rad": 1.6086643481629148,
    "vortex_radius_m": 0.000589384610706217,
    "vortex_tilt_deg": 0.8644507929304325
  },
  "trajectory_validation": {
    "duration_s": 16.041007326165758,
    "final_position_error_m": 0.0,
    "finite": true,
    "max_boundary_angular_jump_deg": 0.0,
    "max_boundary_position_jump_m": 6.783101530377609e-16,
    "max_quaternion_norm_error": 2.220446049250313e-16,
    "max_sample_step_m": 0.0035209392825062253,
    "valid": true,
    "wrong_orientation_contact_error_m": 0.0,
    "wrong_orientation_max_tilt_deg": 180.0,
    "wrong_orientation_min_tilt_deg": 179.13554920723604,
    "wrong_orientation_valid": true
  },
  "tube_cap_present": true,
  "tube_drop": {
    "phase": "transfer_to_vortex",
    "phase_fraction": 0.37999999999999995,
    "release_time_s": 3.2219867649876646,
    "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": [
    -0.2417826741435873,
    0.06915288566184453,
    0.8394
  ],
  "tube_start_position": [
    -0.31409254263351116,
    0.1382273593765962,
    0.8394
  ],
  "video": "front.mp4",
  "video_sha256": "44de9b6849e37771567de50084992b7d162a980f449115cb81f3c2a58e349bcc",
  "video_validation": {
    "actual_frame_count": 481,
    "content_valid": true,
    "decode_error": null,
    "expected_frame_count": 481,
    "frame_count_valid": true,
    "full_decode_frame_count": 481,
    "max_changed_pixel_fraction": 0.013057291666666667,
    "mean_luminance": 148.23800659179688,
    "motion_valid": true,
    "resolution_valid": true,
    "sampled_frame_indices": [
      0,
      80,
      160,
      240,
      320,
      400,
      480
    ],
    "spatial_standard_deviation": 35.12736129760742,
    "valid": true
  },
  "view_index": 1,
  "view_order": [
    "left",
    "front",
    "right"
  ],
  "vortex_contact_position": [
    0.5383177290408273,
    -0.2637781656606365,
    0.9580000000000001
  ],
  "vortex_id": "VTX-005",
  "vortex_position": [
    0.5065124834308298,
    -0.2859711003851774,
    0.79
  ],
  "vortex_yaw_deg": -46.04416213383561,
  "wrong_orientation": {
    "azimuth_deg": -120.53771950574628,
    "mode": "upside_down",
    "tilt_deg_from_z": 180.0
  },
  "wrong_rack": {
    "hole_relation": "too_small",
    "insertion_depth_m": 0.0,
    "insertion_succeeds": false,
    "placement_outcome": "physx_drop_pending",
    "position": [
      0.11975560459302492,
      -0.3186221231129297,
      0.79
    ],
    "rack_id": "TR-003",
    "release_azimuth_deg": -50.95703954429882,
    "release_lateral_offset_m": 0.01886806889881866,
    "release_phase_fraction": 0.7146776919333827,
    "release_tilt_deg": 24.897136441771615,
    "release_time_s": 14.856060018880706,
    "slot_offset_xy": [
      0.0,
      -0.019
    ],
    "tube_target_position": [
      0.10557966740735314,
      -0.33127292565300154,
      0.8500000000000001
    ],
    "yaw_deg": -48.25383620830746
  }
}