{
  "background": {
    "accent_color_rgb": [
      0.8680052060727224,
      0.5934798419363629,
      0.20943927693883002
    ],
    "cabinet_color_rgb": [
      0.5486084976708546,
      0.6241808985061077,
      0.5567228319793951
    ],
    "floor_color_rgb": [
      0.2324577553999946,
      0.2922947755266794,
      0.29034887933092807
    ],
    "screen_color_rgb": [
      0.32094710401987664,
      0.7382824461424834,
      0.652464201532002
    ],
    "style": "wet_lab",
    "wall_color_rgb": [
      0.705031378707887,
      0.8022515597134207,
      0.7079844228378641
    ]
  },
  "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": "TIP-004",
      "pitch_deg": 0.0,
      "position": [
        -0.6154632282901096,
        1.1205555714348931,
        0.83
      ],
      "roll_deg": 0.0,
      "surface": "rear_bench",
      "uniform_scale": 1.0258077170692266,
      "yaw_deg": 141.90678937380306
    },
    {
      "asset_id": "SBI-005",
      "pitch_deg": 0.0,
      "position": [
        -0.6321087151961717,
        -0.046744241965206546,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.824765631237473,
      "yaw_deg": 72.9588848510312
    },
    {
      "asset_id": "TIP-002",
      "pitch_deg": 0.0,
      "position": [
        0.03136956375194411,
        1.1825092692502666,
        0.83
      ],
      "roll_deg": 0.0,
      "surface": "rear_bench",
      "uniform_scale": 1.094785564659482,
      "yaw_deg": -98.33237733549012
    },
    {
      "asset_id": "SBI-002",
      "pitch_deg": 0.0,
      "position": [
        -0.23708062350772208,
        -0.08806370577117048,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 1.1490584371927464,
      "yaw_deg": 47.845908605326656
    },
    {
      "asset_id": "PIP-017",
      "pitch_deg": -89.49945472478699,
      "position": [
        0.45056962063912687,
        1.277783603104516,
        0.857757724805942
      ],
      "roll_deg": 0.0,
      "surface": "rear_bench",
      "uniform_scale": 0.9752316567421119,
      "yaw_deg": 125.42340485758672
    },
    {
      "asset_id": "TIP-007",
      "pitch_deg": 0.0,
      "position": [
        0.22418084126611348,
        -0.2645940740997858,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.8750595747996094,
      "yaw_deg": -14.484537158026853
    },
    {
      "asset_id": "PIP-001",
      "pitch_deg": 0.0,
      "position": [
        0.676029499310327,
        -0.3695279312720842,
        0.7987501851514046
      ],
      "roll_deg": -90.3291977596572,
      "surface": "main_table",
      "uniform_scale": 0.9066137529015985,
      "yaw_deg": -140.24495579932963
    },
    {
      "asset_id": "PIP-008",
      "pitch_deg": -88.37140363075771,
      "position": [
        -0.23945919131486482,
        1.0531342797535108,
        0.8411738079990905
      ],
      "roll_deg": 0.0,
      "surface": "rear_bench",
      "uniform_scale": 1.1601965216402774,
      "yaw_deg": 146.33984678610778
    },
    {
      "asset_id": "AUX-TR-004",
      "pitch_deg": 0.0,
      "position": [
        0.7258690819955057,
        1.122312944363711,
        0.83
      ],
      "roll_deg": 0.0,
      "surface": "rear_bench",
      "uniform_scale": 1.100142286425815,
      "yaw_deg": 33.29685758217886
    },
    {
      "asset_id": "RES-001",
      "pitch_deg": 0.0,
      "position": [
        0.23862506062308508,
        1.3029295406192059,
        0.83
      ],
      "roll_deg": 0.0,
      "surface": "rear_bench",
      "uniform_scale": 0.8026115276065946,
      "yaw_deg": -31.1360387268019
    }
  ],
  "duration_s": 14.618571055702015,
  "episode_id": 41,
  "error_type": "wrong_orientation",
  "frame_count": 439,
  "generation_success": true,
  "light_color_rgb": [
    0.9408393827175373,
    0.92,
    0.92
  ],
  "light_intensity": 2436.339423511153,
  "liquid": {
    "color_rgb": [
      0.0674286395416834,
      0.21512596503404127,
      0.36817991935603717
    ],
    "fill_fraction": 0.4576348117606837,
    "opacity": 0.9092043579700182,
    "vortex_level_rise_fraction": 0.18216387832547398
  },
  "metadata_schema_version": 2,
  "outcome": "failure",
  "physics_scene_count": 1,
  "rack_flip": {
    "angular_speed_rad_s": 1.5239257839490885,
    "direction_azimuth_deg": 146.12914057127796,
    "lateral_speed_mps": 0.08418644170202036,
    "phase": "lift_from_rack",
    "phase_fraction": 0.4440760368448604,
    "release_clearance_m": 0.005863116490845797,
    "release_tilt_deg": 111.23490691118032,
    "stage": "pickup",
    "tip_duration_s": 0.33612413494676374,
    "trigger_time_s": 1.2945461556595428,
    "tube_detach_fraction": 0.5982291825498859,
    "tube_engagement_fraction": 0.31791169388391693,
    "tube_on_rack": true,
    "upward_speed_mps": 0.07875837815877976
  },
  "rack_id": "TR-004",
  "rack_position": [
    0.5878335744033367,
    0.14619588799703764,
    0.79
  ],
  "rack_yaw_deg": -30.36952491528351,
  "randomization_results": {
    "assets": {
      "rack_id": "TR-004",
      "source_tube_has_cap": true,
      "tube_cap_present": true,
      "tube_id": "CT-005",
      "vortex_id": "VTX-003"
    },
    "distractors": {
      "count": 10,
      "placements": [
        {
          "asset_id": "TIP-004",
          "pitch_deg": 0.0,
          "position": [
            -0.6154632282901096,
            1.1205555714348931,
            0.83
          ],
          "roll_deg": 0.0,
          "surface": "rear_bench",
          "uniform_scale": 1.0258077170692266,
          "yaw_deg": 141.90678937380306
        },
        {
          "asset_id": "SBI-005",
          "pitch_deg": 0.0,
          "position": [
            -0.6321087151961717,
            -0.046744241965206546,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.824765631237473,
          "yaw_deg": 72.9588848510312
        },
        {
          "asset_id": "TIP-002",
          "pitch_deg": 0.0,
          "position": [
            0.03136956375194411,
            1.1825092692502666,
            0.83
          ],
          "roll_deg": 0.0,
          "surface": "rear_bench",
          "uniform_scale": 1.094785564659482,
          "yaw_deg": -98.33237733549012
        },
        {
          "asset_id": "SBI-002",
          "pitch_deg": 0.0,
          "position": [
            -0.23708062350772208,
            -0.08806370577117048,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 1.1490584371927464,
          "yaw_deg": 47.845908605326656
        },
        {
          "asset_id": "PIP-017",
          "pitch_deg": -89.49945472478699,
          "position": [
            0.45056962063912687,
            1.277783603104516,
            0.857757724805942
          ],
          "roll_deg": 0.0,
          "surface": "rear_bench",
          "uniform_scale": 0.9752316567421119,
          "yaw_deg": 125.42340485758672
        },
        {
          "asset_id": "TIP-007",
          "pitch_deg": 0.0,
          "position": [
            0.22418084126611348,
            -0.2645940740997858,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.8750595747996094,
          "yaw_deg": -14.484537158026853
        },
        {
          "asset_id": "PIP-001",
          "pitch_deg": 0.0,
          "position": [
            0.676029499310327,
            -0.3695279312720842,
            0.7987501851514046
          ],
          "roll_deg": -90.3291977596572,
          "surface": "main_table",
          "uniform_scale": 0.9066137529015985,
          "yaw_deg": -140.24495579932963
        },
        {
          "asset_id": "PIP-008",
          "pitch_deg": -88.37140363075771,
          "position": [
            -0.23945919131486482,
            1.0531342797535108,
            0.8411738079990905
          ],
          "roll_deg": 0.0,
          "surface": "rear_bench",
          "uniform_scale": 1.1601965216402774,
          "yaw_deg": 146.33984678610778
        },
        {
          "asset_id": "AUX-TR-004",
          "pitch_deg": 0.0,
          "position": [
            0.7258690819955057,
            1.122312944363711,
            0.83
          ],
          "roll_deg": 0.0,
          "surface": "rear_bench",
          "uniform_scale": 1.100142286425815,
          "yaw_deg": 33.29685758217886
        },
        {
          "asset_id": "RES-001",
          "pitch_deg": 0.0,
          "position": [
            0.23862506062308508,
            1.3029295406192059,
            0.83
          ],
          "roll_deg": 0.0,
          "surface": "rear_bench",
          "uniform_scale": 0.8026115276065946,
          "yaw_deg": -31.1360387268019
        }
      ]
    },
    "environment": {
      "background": {
        "accent_color_rgb": [
          0.8680052060727224,
          0.5934798419363629,
          0.20943927693883002
        ],
        "cabinet_color_rgb": [
          0.5486084976708546,
          0.6241808985061077,
          0.5567228319793951
        ],
        "floor_color_rgb": [
          0.2324577553999946,
          0.2922947755266794,
          0.29034887933092807
        ],
        "screen_color_rgb": [
          0.32094710401987664,
          0.7382824461424834,
          0.652464201532002
        ],
        "style": "wet_lab",
        "wall_color_rgb": [
          0.705031378707887,
          0.8022515597134207,
          0.7079844228378641
        ]
      },
      "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": [
        0.9408393827175373,
        0.92,
        0.92
      ],
      "light_intensity": 2436.339423511153,
      "table_color_rgb": [
        0.36,
        0.42,
        0.48
      ]
    },
    "layout": {
      "rack_position_m": [
        0.5878335744033367,
        0.14619588799703764,
        0.79
      ],
      "rack_to_vortex_bearing_deg": 170.4536946207208,
      "rack_to_vortex_distance_m": 0.51825028365266,
      "rack_yaw_deg": -30.36952491528351,
      "return_slot_offset_xy_m": [
        0.075,
        0.0
      ],
      "returns_to_different_slot": true,
      "start_slot_offset_xy_m": [
        0.025,
        0.0
      ],
      "tube_return_position_m": [
        0.6525422770364642,
        0.10827776827127225,
        0.8394
      ],
      "tube_start_position_m": [
        0.6094031419477126,
        0.13355651475511585,
        0.8394
      ],
      "vortex_contact_position_m": [
        0.07868250611867113,
        0.2904135634265259,
        1.0265
      ],
      "vortex_position_m": [
        0.07676007713767197,
        0.23214492463332073,
        0.79
      ],
      "vortex_yaw_deg": -1.6930922555457926
    },
    "liquid": {
      "color_rgb": [
        0.0674286395416834,
        0.21512596503404127,
        0.36817991935603717
      ],
      "effective_peak_level_fraction": 0.6397986900861576,
      "effective_vortex_level_rise_fraction": 0.18216387832547398,
      "fill_fraction": 0.4576348117606837,
      "opacity": 0.9092043579700182,
      "present": true,
      "vortex_level_rise_fraction": 0.18216387832547398
    },
    "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": 25670910,
    "trajectory": {
      "approach_pattern": "lean",
      "approach_sway_m": 0.003300497822394997,
      "depart_pattern": "hook",
      "depart_sway_m": -0.006393164278571209,
      "handling_noise_amplitude_m": 0.012624533450279012,
      "handling_noise_frequency_hz": 2.5799580217742113,
      "handling_noise_phase_xyz_rad": [
        0.9811581389661111,
        2.3776989046251775,
        0.7025245065467681
      ],
      "lift_height_m": 0.11626100208380352,
      "orientation_noise_deg": 5.752653970549398,
      "outbound_curve_bias": -0.5550311260063389,
      "outbound_pattern": "late_swoop",
      "phase_boundaries_s": {
        "final_hold": [
          13.68434374729297,
          14.618571055702015
        ],
        "initial_hold": [
          0.0,
          0.8691029647493962
        ],
        "lift_from_rack": [
          0.8691029647493962,
          1.8271442811259804
        ],
        "lower_to_rack": [
          13.06816044258333,
          13.68434374729297
        ],
        "lower_to_vortex": [
          3.765707601508446,
          4.842279495708699
        ],
        "raise_from_vortex": [
          8.215559349736711,
          9.65056200692764
        ],
        "transfer_to_rack": [
          9.65056200692764,
          13.06816044258333
        ],
        "transfer_to_vortex": [
          1.8271442811259804,
          3.765707601508446
        ],
        "vortex": [
          4.842279495708699,
          8.215559349736711
        ]
      },
      "pick_line_azimuth_deg": -91.76541995383624,
      "pick_line_tilt_deg": 10.159447924454868,
      "pick_pattern": "lean",
      "pick_sway_m": -0.008512946024354212,
      "put_pattern": "straight",
      "put_sway_m": -0.004197609504899452,
      "rack_put_height_m": 0.33765173503519885,
      "return_bend_scale": 1.5670847643228631,
      "return_curve_bias": -0.6981115553099079,
      "return_pattern": "wide_detour",
      "return_side": -1.0,
      "return_vertical_arc_scale": 0.5617872829896038,
      "transfer_bend_m": 0.3176599060470677,
      "transfer_side": -1.0,
      "transport_tilt_deg": 2.834816911674567,
      "vertical_arc_m": 0.053237668711845855,
      "vortex_apparent_frequency_hz": 3.675815871932663,
      "vortex_approach_height_m": 0.23531545640663504,
      "vortex_depart_height_m": 0.11430808696370232,
      "vortex_frequency_hz": 33.67581587193266,
      "vortex_phase_rad": 5.303827118821538,
      "vortex_radius_m": 0.0005483495099959002,
      "vortex_tilt_deg": 0.6910071213033204
    }
  },
  "render_fps": 30,
  "resolution": [
    1920,
    1200
  ],
  "return_slot_offset_xy": [
    0.075,
    0.0
  ],
  "scene_id": "wrong_orientation/scene_000041",
  "schema_version": 15,
  "seed": 25670910,
  "shared_state_file": "shared_state.npz",
  "shared_state_sha256": "8a7affdc0803fdd4d18316cca205272dfd4c43890e742ea5b5a8470d8c906b04",
  "simultaneous_camera_count": 3,
  "source_tube_has_cap": true,
  "start_slot_offset_xy": [
    0.025,
    0.0
  ],
  "subtype_event": {
    "category": "wrong_orientation",
    "event_phase": "vortex",
    "is_failure": true,
    "randomized_parameters": {
      "azimuth_deg": -116.98308837826498,
      "mode": "upside_down",
      "tilt_deg_from_z": 180.0
    },
    "realized_outcome": {
      "azimuth_deg": -116.98308837826498,
      "liquid_level_rise_enabled": true,
      "orientation_mode": "upside_down",
      "tilt_deg_from_z": 180.0,
      "vortex_motion_enabled": true
    },
    "time_window_s": [
      4.842279495708699,
      8.215559349736711
    ]
  },
  "table_color_rgb": [
    0.36,
    0.42,
    0.48
  ],
  "task": "vortexing",
  "trajectory": {
    "approach_pattern": "lean",
    "approach_sway_m": 0.003300497822394997,
    "depart_pattern": "hook",
    "depart_sway_m": -0.006393164278571209,
    "handling_noise_amplitude_m": 0.012624533450279012,
    "handling_noise_frequency_hz": 2.5799580217742113,
    "handling_noise_phase_xyz_rad": [
      0.9811581389661111,
      2.3776989046251775,
      0.7025245065467681
    ],
    "lift_height_m": 0.11626100208380352,
    "orientation_noise_deg": 5.752653970549398,
    "outbound_curve_bias": -0.5550311260063389,
    "outbound_pattern": "late_swoop",
    "phase_boundaries_s": {
      "final_hold": [
        13.68434374729297,
        14.618571055702015
      ],
      "initial_hold": [
        0.0,
        0.8691029647493962
      ],
      "lift_from_rack": [
        0.8691029647493962,
        1.8271442811259804
      ],
      "lower_to_rack": [
        13.06816044258333,
        13.68434374729297
      ],
      "lower_to_vortex": [
        3.765707601508446,
        4.842279495708699
      ],
      "raise_from_vortex": [
        8.215559349736711,
        9.65056200692764
      ],
      "transfer_to_rack": [
        9.65056200692764,
        13.06816044258333
      ],
      "transfer_to_vortex": [
        1.8271442811259804,
        3.765707601508446
      ],
      "vortex": [
        4.842279495708699,
        8.215559349736711
      ]
    },
    "pick_line_azimuth_deg": -91.76541995383624,
    "pick_line_tilt_deg": 10.159447924454868,
    "pick_pattern": "lean",
    "pick_sway_m": -0.008512946024354212,
    "put_pattern": "straight",
    "put_sway_m": -0.004197609504899452,
    "rack_put_height_m": 0.33765173503519885,
    "return_bend_scale": 1.5670847643228631,
    "return_curve_bias": -0.6981115553099079,
    "return_pattern": "wide_detour",
    "return_side": -1.0,
    "return_vertical_arc_scale": 0.5617872829896038,
    "transfer_bend_m": 0.3176599060470677,
    "transfer_side": -1.0,
    "transport_tilt_deg": 2.834816911674567,
    "vertical_arc_m": 0.053237668711845855,
    "vortex_apparent_frequency_hz": 3.675815871932663,
    "vortex_approach_height_m": 0.23531545640663504,
    "vortex_depart_height_m": 0.11430808696370232,
    "vortex_frequency_hz": 33.67581587193266,
    "vortex_phase_rad": 5.303827118821538,
    "vortex_radius_m": 0.0005483495099959002,
    "vortex_tilt_deg": 0.6910071213033204
  },
  "trajectory_validation": {
    "duration_s": 14.618571055702015,
    "final_position_error_m": 0.0,
    "finite": true,
    "max_boundary_angular_jump_deg": 0.0,
    "max_boundary_position_jump_m": 4.847302891456678e-16,
    "max_quaternion_norm_error": 2.220446049250313e-16,
    "max_sample_step_m": 0.004806185864355536,
    "valid": true,
    "wrong_orientation_contact_error_m": 0.0,
    "wrong_orientation_max_tilt_deg": 180.0,
    "wrong_orientation_min_tilt_deg": 179.30899287870096,
    "wrong_orientation_valid": true
  },
  "tube_cap_present": true,
  "tube_drop": {
    "phase": "transfer_to_rack",
    "phase_fraction": 0.41999999999999993,
    "release_time_s": 11.08595334990303,
    "target_surface": "floor",
    "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": [
    0.6525422770364642,
    0.10827776827127225,
    0.8394
  ],
  "tube_start_position": [
    0.6094031419477126,
    0.13355651475511585,
    0.8394
  ],
  "video": "front.mp4",
  "video_sha256": "0087877c55b1e43c3cb636bb0809d0db1f671d9d4d762b762b545c5b008a7713",
  "video_validation": {
    "actual_frame_count": 439,
    "content_valid": true,
    "decode_error": null,
    "expected_frame_count": 439,
    "frame_count_valid": true,
    "full_decode_frame_count": 439,
    "max_changed_pixel_fraction": 0.006670572916666667,
    "mean_luminance": 143.10452270507812,
    "motion_valid": true,
    "resolution_valid": true,
    "sampled_frame_indices": [
      0,
      73,
      146,
      219,
      292,
      365,
      438
    ],
    "spatial_standard_deviation": 30.687978744506836,
    "valid": true
  },
  "view_index": 1,
  "view_order": [
    "left",
    "front",
    "right"
  ],
  "vortex_contact_position": [
    0.07868250611867113,
    0.2904135634265259,
    1.0265
  ],
  "vortex_id": "VTX-003",
  "vortex_position": [
    0.07676007713767197,
    0.23214492463332073,
    0.79
  ],
  "vortex_yaw_deg": -1.6930922555457926,
  "wrong_orientation": {
    "azimuth_deg": -116.98308837826498,
    "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": [
      -0.29530866888931584,
      0.20654452586227334,
      0.79
    ],
    "rack_id": "TR-003",
    "release_azimuth_deg": 85.34484423733016,
    "release_lateral_offset_m": 0.0151334340783152,
    "release_phase_fraction": 0.6574889858645846,
    "release_tilt_deg": 22.460936459900907,
    "release_time_s": 13.47329417870356,
    "slot_offset_xy": [
      0.02,
      -0.019
    ],
    "tube_target_position": [
      -0.2689370946817595,
      0.21464020828041142,
      0.8500000000000001
    ],
    "yaw_deg": 60.59690943383805
  }
}