{ "background": { "accent_color_rgb": [ 0.22933755464145172, 0.5063419842344189, 0.7172090846677622 ], "cabinet_color_rgb": [ 0.7579090416659121, 0.7326970939906794, 0.7507125242051577 ], "floor_color_rgb": [ 0.34095239943822103, 0.3394857386073396, 0.36962242214071894 ], "screen_color_rgb": [ 0.5206839958973896, 0.764991303690691, 0.915820744992137 ], "style": "clean_room", "wall_color_rgb": [ 0.815039519656821, 0.8170272130965833, 0.901624079568374 ] }, "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-008", "pitch_deg": 0.0, "position": [ -0.044765020112256804, 1.069213221466451, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.8578613376864349, "yaw_deg": 22.000165613177018 }, { "asset_id": "RES-009", "pitch_deg": 0.0, "position": [ 0.293929681889624, 0.17117472105962195, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9968629372936139, "yaw_deg": 134.47319885480374 }, { "asset_id": "PIP-001", "pitch_deg": 87.8806953172599, "position": [ 0.5640566636593165, 0.20582071797901458, 0.8061353048224903 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9116795814863137, "yaw_deg": 60.00114851614782 }, { "asset_id": "RES-010", "pitch_deg": 0.0, "position": [ 0.16248194266137073, 0.09497086453168258, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9999855632152507, "yaw_deg": 175.085681860642 }, { "asset_id": "TR-008", "pitch_deg": 0.0, "position": [ 0.7849508493804586, 1.2221115141672805, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.114099817301573, "yaw_deg": 164.68181087090744 } ], "duration_s": 16.390644030418756, "episode_id": 18, "error_type": "wrong_rack", "frame_count": 492, "generation_success": true, "light_color_rgb": [ 0.9725523546314161, 0.92, 0.92 ], "light_intensity": 1692.9587166742222, "liquid": { "color_rgb": [ 0.3349650797166278, 0.1089919432242538, 0.1892447093006987 ], "fill_fraction": 0.4348710406804611, "opacity": 0.8837527696359291, "vortex_level_rise_fraction": 0.21278164055687532 }, "metadata_schema_version": 2, "outcome": "failure", "physics_scene_count": 1, "rack_flip": { "angular_speed_rad_s": 2.2480159767678587, "direction_azimuth_deg": 79.41257645956512, "lateral_speed_mps": 0.06639214055299958, "phase": "lower_to_rack", "phase_fraction": 0.7486592941234935, "release_clearance_m": 0.010040082704274363, "release_tilt_deg": 113.79745688468977, "stage": "insertion", "tip_duration_s": 0.43535652597843627, "trigger_time_s": 14.832695399469127, "tube_detach_fraction": 0.5585265356716281, "tube_engagement_fraction": 0.39012735291270206, "tube_on_rack": true, "upward_speed_mps": 0.08855319989628133 }, "rack_id": "TR-002", "rack_position": [ 0.3550634902277602, -0.18811616164602446, 0.79 ], "rack_yaw_deg": -12.889954844194236, "randomization_results": { "assets": { "rack_id": "TR-002", "source_tube_has_cap": true, "tube_cap_present": true, "tube_id": "CT-009", "vortex_id": "VTX-003" }, "distractors": { "count": 5, "placements": [ { "asset_id": "TIP-008", "pitch_deg": 0.0, "position": [ -0.044765020112256804, 1.069213221466451, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.8578613376864349, "yaw_deg": 22.000165613177018 }, { "asset_id": "RES-009", "pitch_deg": 0.0, "position": [ 0.293929681889624, 0.17117472105962195, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9968629372936139, "yaw_deg": 134.47319885480374 }, { "asset_id": "PIP-001", "pitch_deg": 87.8806953172599, "position": [ 0.5640566636593165, 0.20582071797901458, 0.8061353048224903 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9116795814863137, "yaw_deg": 60.00114851614782 }, { "asset_id": "RES-010", "pitch_deg": 0.0, "position": [ 0.16248194266137073, 0.09497086453168258, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9999855632152507, "yaw_deg": 175.085681860642 }, { "asset_id": "TR-008", "pitch_deg": 0.0, "position": [ 0.7849508493804586, 1.2221115141672805, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 1.114099817301573, "yaw_deg": 164.68181087090744 } ] }, "environment": { "background": { "accent_color_rgb": [ 0.22933755464145172, 0.5063419842344189, 0.7172090846677622 ], "cabinet_color_rgb": [ 0.7579090416659121, 0.7326970939906794, 0.7507125242051577 ], "floor_color_rgb": [ 0.34095239943822103, 0.3394857386073396, 0.36962242214071894 ], "screen_color_rgb": [ 0.5206839958973896, 0.764991303690691, 0.915820744992137 ], "style": "clean_room", "wall_color_rgb": [ 0.815039519656821, 0.8170272130965833, 0.901624079568374 ] }, "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": [ 0.9725523546314161, 0.92, 0.92 ], "light_intensity": 1692.9587166742222, "table_color_rgb": [ 0.16, 0.42, 0.46 ] }, "layout": { "rack_position_m": [ 0.3550634902277602, -0.18811616164602446, 0.79 ], "rack_to_vortex_bearing_deg": 163.5173969353342, "rack_to_vortex_distance_m": 0.47942597275922433, "rack_yaw_deg": -12.889954844194236, "return_slot_offset_xy_m": [ -0.068, 0.0 ], "returns_to_different_slot": true, "start_slot_offset_xy_m": [ 0.034, 0.0 ], "tube_return_position_m": [ 0.2887770684913361, -0.17294677492866073, 0.8152000000000001 ], "tube_start_position_m": [ 0.3882067010959722, -0.19570085500470633, 0.8152000000000001 ], "vortex_contact_position_m": [ -0.12977934891767418, 0.0005203218812082008, 1.0265 ], "vortex_position_m": [ -0.10466091676564604, -0.052091410329620585, 0.79 ], "vortex_yaw_deg": 25.717774846468558 }, "liquid": { "color_rgb": [ 0.3349650797166278, 0.1089919432242538, 0.1892447093006987 ], "effective_peak_level_fraction": 0.6476526812373364, "effective_vortex_level_rise_fraction": 0.21278164055687532, "fill_fraction": 0.4348710406804611, "opacity": 0.8837527696359291, "present": true, "vortex_level_rise_fraction": 0.21278164055687532 }, "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": 26440909, "trajectory": { "approach_pattern": "s_sway", "approach_sway_m": 0.010076528177136623, "depart_pattern": "spiral", "depart_sway_m": -0.005646265887317576, "handling_noise_amplitude_m": 0.005975233326629632, "handling_noise_frequency_hz": 2.5602333190513455, "handling_noise_phase_xyz_rad": [ 2.007109061663518, 1.3955344538230683, 4.456920235538071 ], "lift_height_m": 0.09058105315508022, "orientation_noise_deg": 2.6092073765909607, "outbound_curve_bias": 0.7010449042173281, "outbound_pattern": "double_s", "phase_boundaries_s": { "final_hold": [ 15.158515532318791, 16.390644030418756 ], "initial_hold": [ 0.0, 0.7487598104644853 ], "lift_from_rack": [ 0.7487598104644853, 3.20397969494409 ], "lower_to_rack": [ 13.862186982140566, 15.158515532318791 ], "lower_to_vortex": [ 6.731725171989007, 7.467446379628619 ], "raise_from_vortex": [ 11.03794125006371, 11.757684906298907 ], "transfer_to_rack": [ 11.757684906298907, 13.862186982140566 ], "transfer_to_vortex": [ 3.20397969494409, 6.731725171989007 ], "vortex": [ 7.467446379628619, 11.03794125006371 ] }, "pick_line_azimuth_deg": 102.82516146209639, "pick_line_tilt_deg": 5.467712498858831, "pick_pattern": "lean", "pick_sway_m": -0.00390183820611258, "put_pattern": "spiral", "put_sway_m": -0.003545564782512275, "rack_put_height_m": 0.20225499747616416, "return_bend_scale": 0.9976987910116373, "return_curve_bias": 0.6453588013958684, "return_pattern": "loop", "return_side": -1.0, "return_vertical_arc_scale": 0.7663759188211763, "transfer_bend_m": 0.08687501331459493, "transfer_side": -1.0, "transport_tilt_deg": 3.0302911821956116, "vertical_arc_m": 0.12210416571761568, "vortex_apparent_frequency_hz": 3.7808493239220446, "vortex_approach_height_m": 0.23408292815733905, "vortex_depart_height_m": 0.17821966253076849, "vortex_frequency_hz": 26.219150676077955, "vortex_phase_rad": 3.214163954660136, "vortex_radius_m": 0.0007427046749387781, "vortex_tilt_deg": 0.17361999747241247 } }, "render_fps": 30, "resolution": [ 1920, 1200 ], "return_slot_offset_xy": [ -0.068, 0.0 ], "scene_id": "wrong_rack/scene_000018", "schema_version": 15, "seed": 26440909, "shared_state_file": "shared_state.npz", "shared_state_sha256": "c58bb4f1f3a0d4ff55290f42d319bc7a42a0dd9a4777e7863b0f93067c1078e1", "simultaneous_camera_count": 3, "source_tube_has_cap": true, "start_slot_offset_xy": [ 0.034, 0.0 ], "subtype_event": { "category": "wrong_rack", "event_phase": "lower_to_rack", "event_time_s": 14.719696122509518, "is_failure": true, "randomized_parameters": { "hole_relation": "too_small", "insertion_depth_m": 0.0, "insertion_succeeds": false, "placement_outcome": "physx_drop_pending", "position": [ -0.61973767834433, -0.15913035837287604, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": 7.722118987661901, "release_lateral_offset_m": 0.02287521059202402, "release_phase_fraction": 0.6614905922198949, "release_tilt_deg": 26.719220961032335, "release_time_s": 14.719696122509518, "slot_offset_xy": [ 0.0, 0.019 ], "tube_target_position": [ -0.6367384187602521, -0.15064656056113884, 0.8500000000000001 ], "yaw_deg": 63.479647984500815 }, "realized_outcome": { "fall_distance_m": 0.08550985876428496, "falling_under_gravity_at_episode_end": false, "final_angular_speed_deg_s": 225.16213989257812, "final_linear_speed_mps": 0.07260110974311829, "final_linear_velocity_mps": [ 0.011441074311733246, -0.07169385999441147, 0.00011673180415527895 ], "final_position_m": [ -0.5732429027557373, -0.3621915578842163, 0.8085986971855164 ], "final_protected_visual_minimum_z_m": 0.7902499471895392, "final_state_valid": true, "final_surface": "table", "final_tilt_from_upright_deg": 89.99880022202576, "first_impact_body": "wrong_rack", "first_impact_linear_speed_mps": 0.6827690005302429, "first_impact_position_m": [ -0.5994012355804443, -0.147208109498024, 0.86891108751297 ], "first_impact_time_s": 15.025, "hole_relation": "too_small", "inside_wrong_rack_footprint": false, "minimum_root_z_m": 0.8085983395576477, "observed_outcome": "fell_to_table", "overlaps_wrong_rack_footprint": false, "planned_outcome": "physx_drop_pending", "planned_release_azimuth_deg": 7.722118987661901, "planned_release_lateral_offset_m": 0.02287521059202402, "planned_release_tilt_deg": 26.719220961032335, "post_release_scripted_control": false, "release_angular_velocity_rad_s": [ 0.0, 0.0, 0.0 ], "release_height_above_rack_top_m": 0.04410819832193258, "release_linear_velocity_mps": [ 0.0, 0.0, 0.0 ], "release_mode": "physx_gravity_from_rest", "release_phase": "lower_to_rack", "release_phase_fraction": 0.6614905922198949, "release_position_m": [ -0.6389680178817332, -0.15361616812773166, 0.8941081983219327 ], "release_time_s": 14.719696122509518, "support_clearance_m": 0.00024994718953919026, "support_surface_z_m": 0.79, "target_body": "wrong_rack", "tube_root_below_rack_top": true, "valid": true, "visual_surface_nonpenetration_valid": true, "wrong_rack_id": "TR-003" } }, "table_color_rgb": [ 0.16, 0.42, 0.46 ], "task": "vortexing", "trajectory": { "approach_pattern": "s_sway", "approach_sway_m": 0.010076528177136623, "depart_pattern": "spiral", "depart_sway_m": -0.005646265887317576, "handling_noise_amplitude_m": 0.005975233326629632, "handling_noise_frequency_hz": 2.5602333190513455, "handling_noise_phase_xyz_rad": [ 2.007109061663518, 1.3955344538230683, 4.456920235538071 ], "lift_height_m": 0.09058105315508022, "orientation_noise_deg": 2.6092073765909607, "outbound_curve_bias": 0.7010449042173281, "outbound_pattern": "double_s", "phase_boundaries_s": { "final_hold": [ 15.158515532318791, 16.390644030418756 ], "initial_hold": [ 0.0, 0.7487598104644853 ], "lift_from_rack": [ 0.7487598104644853, 3.20397969494409 ], "lower_to_rack": [ 13.862186982140566, 15.158515532318791 ], "lower_to_vortex": [ 6.731725171989007, 7.467446379628619 ], "raise_from_vortex": [ 11.03794125006371, 11.757684906298907 ], "transfer_to_rack": [ 11.757684906298907, 13.862186982140566 ], "transfer_to_vortex": [ 3.20397969494409, 6.731725171989007 ], "vortex": [ 7.467446379628619, 11.03794125006371 ] }, "pick_line_azimuth_deg": 102.82516146209639, "pick_line_tilt_deg": 5.467712498858831, "pick_pattern": "lean", "pick_sway_m": -0.00390183820611258, "put_pattern": "spiral", "put_sway_m": -0.003545564782512275, "rack_put_height_m": 0.20225499747616416, "return_bend_scale": 0.9976987910116373, "return_curve_bias": 0.6453588013958684, "return_pattern": "loop", "return_side": -1.0, "return_vertical_arc_scale": 0.7663759188211763, "transfer_bend_m": 0.08687501331459493, "transfer_side": -1.0, "transport_tilt_deg": 3.0302911821956116, "vertical_arc_m": 0.12210416571761568, "vortex_apparent_frequency_hz": 3.7808493239220446, "vortex_approach_height_m": 0.23408292815733905, "vortex_depart_height_m": 0.17821966253076849, "vortex_frequency_hz": 26.219150676077955, "vortex_phase_rad": 3.214163954660136, "vortex_radius_m": 0.0007427046749387781, "vortex_tilt_deg": 0.17361999747241247 }, "trajectory_validation": { "duration_s": 16.390644030418756, "final_position_error_m": 0.0, "finite": true, "max_boundary_angular_jump_deg": 0.0, "max_boundary_position_jump_m": 3.356825098370518e-16, "max_quaternion_norm_error": 1.1102230246251565e-16, "max_sample_step_m": 0.0034190792774786006, "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": true, "tube_drop": { "phase": "transfer_to_vortex", "phase_fraction": 0.7449521370780865, "release_time_s": 5.8319812271362546, "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": [ 0.2887770684913361, -0.17294677492866073, 0.8152000000000001 ], "tube_start_position": [ 0.3882067010959722, -0.19570085500470633, 0.8152000000000001 ], "video": "front.mp4", "video_sha256": "8cd8948ad8058dd547cd01a902872684b8fe9d0324d0ea312c28eea68aae8080", "video_validation": { "actual_frame_count": 492, "content_valid": true, "decode_error": null, "expected_frame_count": 492, "frame_count_valid": true, "full_decode_frame_count": 492, "max_changed_pixel_fraction": 0.010982638888888889, "mean_luminance": 147.8118133544922, "motion_valid": true, "resolution_valid": true, "sampled_frame_indices": [ 0, 82, 164, 246, 327, 409, 491 ], "spatial_standard_deviation": 34.65279769897461, "valid": true }, "view_index": 1, "view_order": [ "left", "front", "right" ], "vortex_contact_position": [ -0.12977934891767418, 0.0005203218812082008, 1.0265 ], "vortex_id": "VTX-003", "vortex_position": [ -0.10466091676564604, -0.052091410329620585, 0.79 ], "vortex_yaw_deg": 25.717774846468558, "wrong_orientation": { "azimuth_deg": 174.35383894843432, "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": [ -0.61973767834433, -0.15913035837287604, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": 7.722118987661901, "release_lateral_offset_m": 0.02287521059202402, "release_phase_fraction": 0.6614905922198949, "release_tilt_deg": 26.719220961032335, "release_time_s": 14.719696122509518, "slot_offset_xy": [ 0.0, 0.019 ], "tube_target_position": [ -0.6367384187602521, -0.15064656056113884, 0.8500000000000001 ], "yaw_deg": 63.479647984500815 }, "wrong_rack_physics": { "fall_distance_m": 0.08550985876428496, "falling_under_gravity_at_episode_end": false, "final_angular_speed_deg_s": 225.16213989257812, "final_linear_speed_mps": 0.07260110974311829, "final_linear_velocity_mps": [ 0.011441074311733246, -0.07169385999441147, 0.00011673180415527895 ], "final_position_m": [ -0.5732429027557373, -0.3621915578842163, 0.8085986971855164 ], "final_protected_visual_minimum_z_m": 0.7902499471895392, "final_state_valid": true, "final_surface": "table", "final_tilt_from_upright_deg": 89.99880022202576, "first_impact_body": "wrong_rack", "first_impact_linear_speed_mps": 0.6827690005302429, "first_impact_position_m": [ -0.5994012355804443, -0.147208109498024, 0.86891108751297 ], "first_impact_time_s": 15.025, "hole_relation": "too_small", "inside_wrong_rack_footprint": false, "minimum_root_z_m": 0.8085983395576477, "observed_outcome": "fell_to_table", "overlaps_wrong_rack_footprint": false, "planned_outcome": "physx_drop_pending", "planned_release_azimuth_deg": 7.722118987661901, "planned_release_lateral_offset_m": 0.02287521059202402, "planned_release_tilt_deg": 26.719220961032335, "post_release_scripted_control": false, "release_angular_velocity_rad_s": [ 0.0, 0.0, 0.0 ], "release_height_above_rack_top_m": 0.04410819832193258, "release_linear_velocity_mps": [ 0.0, 0.0, 0.0 ], "release_mode": "physx_gravity_from_rest", "release_phase": "lower_to_rack", "release_phase_fraction": 0.6614905922198949, "release_position_m": [ -0.6389680178817332, -0.15361616812773166, 0.8941081983219327 ], "release_time_s": 14.719696122509518, "support_clearance_m": 0.00024994718953919026, "support_surface_z_m": 0.79, "target_body": "wrong_rack", "tube_root_below_rack_top": true, "valid": true, "visual_surface_nonpenetration_valid": true, "wrong_rack_id": "TR-003" } }