{
  "background": {
    "accent_color_rgb": [
      0.8002046305624153,
      0.6822670089926515,
      0.1862574234204824
    ],
    "cabinet_color_rgb": [
      0.5848402264830808,
      0.7050742398334603,
      0.6593027475312667
    ],
    "floor_color_rgb": [
      0.22860004217171945,
      0.34904185323796155,
      0.32441349402014086
    ],
    "screen_color_rgb": [
      0.31543188427010854,
      0.7239747608341627,
      0.8282168926220416
    ],
    "style": "biosafety",
    "wall_color_rgb": [
      0.6905634715175527,
      0.7948338423530841,
      0.7680516831331535
    ]
  },
  "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": "PIP-008",
      "pitch_deg": 0.0,
      "position": [
        -0.5354088230438094,
        -0.3885638653579358,
        0.8021620435133195
      ],
      "roll_deg": -87.09588281776203,
      "surface": "main_table",
      "uniform_scale": 0.7879759130621284,
      "yaw_deg": 101.2324832081697
    },
    {
      "asset_id": "PIP-005",
      "pitch_deg": -86.79855688050095,
      "position": [
        0.5113437406766127,
        0.233990196576014,
        0.8164141865527009
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 1.126703763160906,
      "yaw_deg": 140.47294221843686
    },
    {
      "asset_id": "TR-008",
      "pitch_deg": 0.0,
      "position": [
        -0.6870142549155894,
        0.3923820444789319,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.8721523725430224,
      "yaw_deg": 97.29468372237648
    },
    {
      "asset_id": "AUX-TR-004",
      "pitch_deg": 0.0,
      "position": [
        0.6395240070717001,
        1.0810317766148925,
        0.83
      ],
      "roll_deg": 0.0,
      "surface": "rear_bench",
      "uniform_scale": 1.0347911369371618,
      "yaw_deg": 68.47711862945994
    },
    {
      "asset_id": "PIP-007",
      "pitch_deg": 0.0,
      "position": [
        -0.5519732791468044,
        -0.1329591219943853,
        0.8002938215149452
      ],
      "roll_deg": 91.97769678250535,
      "surface": "main_table",
      "uniform_scale": 1.0762441225214496,
      "yaw_deg": -55.78975472202741
    },
    {
      "asset_id": "TIP-002",
      "pitch_deg": 0.0,
      "position": [
        -0.5539696344758358,
        1.247636617175875,
        0.83
      ],
      "roll_deg": 0.0,
      "surface": "rear_bench",
      "uniform_scale": 1.0254369339846692,
      "yaw_deg": 160.38081725766017
    },
    {
      "asset_id": "RES-009",
      "pitch_deg": 0.0,
      "position": [
        0.5572099357100794,
        -0.2846589928905401,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.9242234856323623,
      "yaw_deg": -82.20806251146624
    }
  ],
  "duration_s": 16.9538453173225,
  "episode_id": 35,
  "error_type": "wrong_orientation",
  "frame_count": 509,
  "generation_success": true,
  "light_color_rgb": [
    0.92,
    0.92,
    0.9797485319952797
  ],
  "light_intensity": 1902.313735860855,
  "liquid": {
    "color_rgb": [
      0.025313372715122445,
      0.30316077495687216,
      0.2356639357083629
    ],
    "fill_fraction": 0.4178770298665557,
    "opacity": 0.8604989518932397,
    "vortex_level_rise_fraction": 0.21424839810146512
  },
  "metadata_schema_version": 2,
  "outcome": "failure",
  "physics_scene_count": 1,
  "rack_flip": {
    "angular_speed_rad_s": 2.791028852335133,
    "direction_azimuth_deg": -107.40407277879014,
    "lateral_speed_mps": 0.034084400976017705,
    "phase": "lower_to_rack",
    "phase_fraction": 0.7543065695251645,
    "release_clearance_m": 0.006431035339788784,
    "release_tilt_deg": 125.27816781154648,
    "stage": "insertion",
    "tip_duration_s": 0.4603480726645398,
    "trigger_time_s": 15.532349524985845,
    "tube_detach_fraction": 0.44290465056942285,
    "tube_engagement_fraction": 0.5475833713889897,
    "tube_on_rack": true,
    "upward_speed_mps": 0.09509165364269334
  },
  "rack_id": "TR-004",
  "rack_position": [
    -0.36553442944856074,
    0.11857263760022013,
    0.79
  ],
  "rack_yaw_deg": -22.66148063632638,
  "randomization_results": {
    "assets": {
      "rack_id": "TR-004",
      "source_tube_has_cap": true,
      "tube_cap_present": true,
      "tube_id": "CT-009",
      "vortex_id": "VTX-001"
    },
    "distractors": {
      "count": 7,
      "placements": [
        {
          "asset_id": "PIP-008",
          "pitch_deg": 0.0,
          "position": [
            -0.5354088230438094,
            -0.3885638653579358,
            0.8021620435133195
          ],
          "roll_deg": -87.09588281776203,
          "surface": "main_table",
          "uniform_scale": 0.7879759130621284,
          "yaw_deg": 101.2324832081697
        },
        {
          "asset_id": "PIP-005",
          "pitch_deg": -86.79855688050095,
          "position": [
            0.5113437406766127,
            0.233990196576014,
            0.8164141865527009
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 1.126703763160906,
          "yaw_deg": 140.47294221843686
        },
        {
          "asset_id": "TR-008",
          "pitch_deg": 0.0,
          "position": [
            -0.6870142549155894,
            0.3923820444789319,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.8721523725430224,
          "yaw_deg": 97.29468372237648
        },
        {
          "asset_id": "AUX-TR-004",
          "pitch_deg": 0.0,
          "position": [
            0.6395240070717001,
            1.0810317766148925,
            0.83
          ],
          "roll_deg": 0.0,
          "surface": "rear_bench",
          "uniform_scale": 1.0347911369371618,
          "yaw_deg": 68.47711862945994
        },
        {
          "asset_id": "PIP-007",
          "pitch_deg": 0.0,
          "position": [
            -0.5519732791468044,
            -0.1329591219943853,
            0.8002938215149452
          ],
          "roll_deg": 91.97769678250535,
          "surface": "main_table",
          "uniform_scale": 1.0762441225214496,
          "yaw_deg": -55.78975472202741
        },
        {
          "asset_id": "TIP-002",
          "pitch_deg": 0.0,
          "position": [
            -0.5539696344758358,
            1.247636617175875,
            0.83
          ],
          "roll_deg": 0.0,
          "surface": "rear_bench",
          "uniform_scale": 1.0254369339846692,
          "yaw_deg": 160.38081725766017
        },
        {
          "asset_id": "RES-009",
          "pitch_deg": 0.0,
          "position": [
            0.5572099357100794,
            -0.2846589928905401,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.9242234856323623,
          "yaw_deg": -82.20806251146624
        }
      ]
    },
    "environment": {
      "background": {
        "accent_color_rgb": [
          0.8002046305624153,
          0.6822670089926515,
          0.1862574234204824
        ],
        "cabinet_color_rgb": [
          0.5848402264830808,
          0.7050742398334603,
          0.6593027475312667
        ],
        "floor_color_rgb": [
          0.22860004217171945,
          0.34904185323796155,
          0.32441349402014086
        ],
        "screen_color_rgb": [
          0.31543188427010854,
          0.7239747608341627,
          0.8282168926220416
        ],
        "style": "biosafety",
        "wall_color_rgb": [
          0.6905634715175527,
          0.7948338423530841,
          0.7680516831331535
        ]
      },
      "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": [
        0.92,
        0.92,
        0.9797485319952797
      ],
      "light_intensity": 1902.313735860855,
      "table_color_rgb": [
        0.26,
        0.32,
        0.42
      ]
    },
    "layout": {
      "rack_position_m": [
        -0.36553442944856074,
        0.11857263760022013,
        0.79
      ],
      "rack_to_vortex_bearing_deg": -13.508076138462572,
      "rack_to_vortex_distance_m": 0.7473528539726644,
      "rack_yaw_deg": -22.66148063632638,
      "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": [
        -0.3424644964080306,
        0.1089404940430748,
        0.8529
      ],
      "tube_start_position_m": [
        -0.2963246303269703,
        0.08967620692878414,
        0.8529
      ],
      "vortex_contact_position_m": [
        0.3120512233412167,
        -0.028232218428457193,
        1.0070000000000001
      ],
      "vortex_position_m": [
        0.36114440655923685,
        -0.05599585222380005,
        0.79
      ],
      "vortex_yaw_deg": 60.51056847403555
    },
    "liquid": {
      "color_rgb": [
        0.025313372715122445,
        0.30316077495687216,
        0.2356639357083629
      ],
      "effective_peak_level_fraction": 0.6321254279680208,
      "effective_vortex_level_rise_fraction": 0.21424839810146512,
      "fill_fraction": 0.4178770298665557,
      "opacity": 0.8604989518932397,
      "present": true,
      "vortex_level_rise_fraction": 0.21424839810146512
    },
    "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": 25610909,
    "trajectory": {
      "approach_pattern": "straight",
      "approach_sway_m": 0.006259692164240702,
      "depart_pattern": "s_sway",
      "depart_sway_m": 0.00897340496942953,
      "handling_noise_amplitude_m": 0.002676793817467516,
      "handling_noise_frequency_hz": 2.0330979166569163,
      "handling_noise_phase_xyz_rad": [
        4.26231586279348,
        4.335792101619024,
        5.382210468017845
      ],
      "lift_height_m": 0.06322361656757924,
      "orientation_noise_deg": 2.0383067178259746,
      "outbound_curve_bias": 0.4614246966102862,
      "outbound_pattern": "loop",
      "phase_boundaries_s": {
        "final_hold": [
          15.721998468206246,
          16.9538453173225
        ],
        "initial_hold": [
          0.0,
          0.9510591025722785
        ],
        "lift_from_rack": [
          0.9510591025722785,
          3.167129895255097
        ],
        "lower_to_rack": [
          14.950105858567152,
          15.721998468206246
        ],
        "lower_to_vortex": [
          6.3124125316027655,
          7.512467647532489
        ],
        "raise_from_vortex": [
          10.734475686783945,
          11.779868455740054
        ],
        "transfer_to_rack": [
          11.779868455740054,
          14.950105858567152
        ],
        "transfer_to_vortex": [
          3.167129895255097,
          6.3124125316027655
        ],
        "vortex": [
          7.512467647532489,
          10.734475686783945
        ]
      },
      "pick_line_azimuth_deg": 60.82480147445756,
      "pick_line_tilt_deg": 3.088626768226066,
      "pick_pattern": "s_sway",
      "pick_sway_m": 0.009031674555264674,
      "put_pattern": "s_sway",
      "put_sway_m": 0.005850192194306293,
      "rack_put_height_m": 0.2467084144219939,
      "return_bend_scale": 1.1784820260295765,
      "return_curve_bias": -0.25116686917792197,
      "return_pattern": "high_arc",
      "return_side": 1.0,
      "return_vertical_arc_scale": 1.1337143985330587,
      "transfer_bend_m": 0.07381006154697695,
      "transfer_side": 1.0,
      "transport_tilt_deg": 14.458067199271552,
      "vertical_arc_m": 0.08836118684977984,
      "vortex_apparent_frequency_hz": 7.117781238240298,
      "vortex_approach_height_m": 0.25026406033194826,
      "vortex_depart_height_m": 0.08806786315389462,
      "vortex_frequency_hz": 37.1177812382403,
      "vortex_phase_rad": 5.119969323277453,
      "vortex_radius_m": 0.00043622348700726526,
      "vortex_tilt_deg": 0.5497929514197126
    }
  },
  "render_fps": 30,
  "resolution": [
    1920,
    1200
  ],
  "return_slot_offset_xy": [
    0.025,
    0.0
  ],
  "scene_id": "wrong_orientation/scene_000035",
  "schema_version": 15,
  "seed": 25610909,
  "shared_state_file": "shared_state.npz",
  "shared_state_sha256": "f8aace2769ca95896d1dfdac6e2e6b4568e691356f840a1922f41013e4f07857",
  "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": 55.28533127918615,
      "mode": "upside_down",
      "tilt_deg_from_z": 180.0
    },
    "realized_outcome": {
      "azimuth_deg": 55.28533127918615,
      "liquid_level_rise_enabled": true,
      "orientation_mode": "upside_down",
      "tilt_deg_from_z": 180.0,
      "vortex_motion_enabled": true
    },
    "time_window_s": [
      7.512467647532489,
      10.734475686783945
    ]
  },
  "table_color_rgb": [
    0.26,
    0.32,
    0.42
  ],
  "task": "vortexing",
  "trajectory": {
    "approach_pattern": "straight",
    "approach_sway_m": 0.006259692164240702,
    "depart_pattern": "s_sway",
    "depart_sway_m": 0.00897340496942953,
    "handling_noise_amplitude_m": 0.002676793817467516,
    "handling_noise_frequency_hz": 2.0330979166569163,
    "handling_noise_phase_xyz_rad": [
      4.26231586279348,
      4.335792101619024,
      5.382210468017845
    ],
    "lift_height_m": 0.06322361656757924,
    "orientation_noise_deg": 2.0383067178259746,
    "outbound_curve_bias": 0.4614246966102862,
    "outbound_pattern": "loop",
    "phase_boundaries_s": {
      "final_hold": [
        15.721998468206246,
        16.9538453173225
      ],
      "initial_hold": [
        0.0,
        0.9510591025722785
      ],
      "lift_from_rack": [
        0.9510591025722785,
        3.167129895255097
      ],
      "lower_to_rack": [
        14.950105858567152,
        15.721998468206246
      ],
      "lower_to_vortex": [
        6.3124125316027655,
        7.512467647532489
      ],
      "raise_from_vortex": [
        10.734475686783945,
        11.779868455740054
      ],
      "transfer_to_rack": [
        11.779868455740054,
        14.950105858567152
      ],
      "transfer_to_vortex": [
        3.167129895255097,
        6.3124125316027655
      ],
      "vortex": [
        7.512467647532489,
        10.734475686783945
      ]
    },
    "pick_line_azimuth_deg": 60.82480147445756,
    "pick_line_tilt_deg": 3.088626768226066,
    "pick_pattern": "s_sway",
    "pick_sway_m": 0.009031674555264674,
    "put_pattern": "s_sway",
    "put_sway_m": 0.005850192194306293,
    "rack_put_height_m": 0.2467084144219939,
    "return_bend_scale": 1.1784820260295765,
    "return_curve_bias": -0.25116686917792197,
    "return_pattern": "high_arc",
    "return_side": 1.0,
    "return_vertical_arc_scale": 1.1337143985330587,
    "transfer_bend_m": 0.07381006154697695,
    "transfer_side": 1.0,
    "transport_tilt_deg": 14.458067199271552,
    "vertical_arc_m": 0.08836118684977984,
    "vortex_apparent_frequency_hz": 7.117781238240298,
    "vortex_approach_height_m": 0.25026406033194826,
    "vortex_depart_height_m": 0.08806786315389462,
    "vortex_frequency_hz": 37.1177812382403,
    "vortex_phase_rad": 5.119969323277453,
    "vortex_radius_m": 0.00043622348700726526,
    "vortex_tilt_deg": 0.5497929514197126
  },
  "trajectory_validation": {
    "duration_s": 16.9538453173225,
    "final_position_error_m": 0.0,
    "finite": true,
    "max_boundary_angular_jump_deg": 0.0,
    "max_boundary_position_jump_m": 5.11975649256e-16,
    "max_quaternion_norm_error": 2.220446049250313e-16,
    "max_sample_step_m": 0.0025336295238840537,
    "valid": true,
    "wrong_orientation_contact_error_m": 0.0,
    "wrong_orientation_max_tilt_deg": 180.0,
    "wrong_orientation_min_tilt_deg": 179.4502070486861,
    "wrong_orientation_valid": true
  },
  "tube_cap_present": true,
  "tube_drop": {
    "phase": "transfer_to_rack",
    "phase_fraction": 0.21999999999999997,
    "release_time_s": 12.477320684362017,
    "target_surface": "table",
    "vortex_release_azimuth_deg": 0.0,
    "vortex_release_offset_m": 0.0,
    "vortex_release_tilt_deg": 0.0
  },
  "tube_id": "CT-009",
  "tube_return_position": [
    -0.3424644964080306,
    0.1089404940430748,
    0.8529
  ],
  "tube_start_position": [
    -0.2963246303269703,
    0.08967620692878414,
    0.8529
  ],
  "video": "front.mp4",
  "video_sha256": "a5a9e41599609ec3e986d8a9ec625c1bbe3926f5ba274b63de68e2ed9fa0c40e",
  "video_validation": {
    "actual_frame_count": 509,
    "content_valid": true,
    "decode_error": null,
    "expected_frame_count": 509,
    "frame_count_valid": true,
    "full_decode_frame_count": 509,
    "max_changed_pixel_fraction": 0.00592578125,
    "mean_luminance": 143.24424743652344,
    "motion_valid": true,
    "resolution_valid": true,
    "sampled_frame_indices": [
      0,
      85,
      169,
      254,
      339,
      423,
      508
    ],
    "spatial_standard_deviation": 36.76441955566406,
    "valid": true
  },
  "view_index": 1,
  "view_order": [
    "left",
    "front",
    "right"
  ],
  "vortex_contact_position": [
    0.3120512233412167,
    -0.028232218428457193,
    1.0070000000000001
  ],
  "vortex_id": "VTX-001",
  "vortex_position": [
    0.36114440655923685,
    -0.05599585222380005,
    0.79
  ],
  "vortex_yaw_deg": 60.51056847403555,
  "wrong_orientation": {
    "azimuth_deg": 55.28533127918615,
    "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": [
      -0.14546393793787393,
      -0.3573716888080814,
      0.79
    ],
    "rack_id": "TR-003",
    "release_azimuth_deg": 48.12257489561625,
    "release_lateral_offset_m": 0.02230747290028908,
    "release_phase_fraction": 0.7539461348112406,
    "release_tilt_deg": 29.246040491153465,
    "release_time_s": 15.53207130809391,
    "slot_offset_xy": [
      -0.02,
      0.0
    ],
    "tube_target_position": [
      -0.16263692617359857,
      -0.34712042181050184,
      0.8500000000000001
    ],
    "yaw_deg": -30.83472453626944
  }
}