{
  "background": {
    "accent_color_rgb": [
      0.22097834504366387,
      0.5182504091543108,
      0.7233846321676367
    ],
    "cabinet_color_rgb": [
      0.7480692240039499,
      0.7242232227847291,
      0.793054658413784
    ],
    "floor_color_rgb": [
      0.3079411666695437,
      0.3693170738799531,
      0.39494251327803886
    ],
    "screen_color_rgb": [
      0.5059465416736905,
      0.7919630108011083,
      0.9100656494075378
    ],
    "style": "clean_room",
    "wall_color_rgb": [
      0.7971561774986824,
      0.884187250278271,
      0.8933814052257046
    ]
  },
  "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-002",
      "pitch_deg": 0.0,
      "position": [
        0.0906381540745893,
        0.3800693154102147,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.9575514218072476,
      "yaw_deg": 39.85640787127926
    },
    {
      "asset_id": "AUX-TR-003",
      "pitch_deg": 0.0,
      "position": [
        0.6729244185166697,
        0.2928265344004103,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.8355613244710248,
      "yaw_deg": 27.444840740887088
    },
    {
      "asset_id": "TR-008",
      "pitch_deg": 0.0,
      "position": [
        0.7146599152118046,
        0.08324917141678007,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 1.047291015414098,
      "yaw_deg": -32.788778904263694
    },
    {
      "asset_id": "TIP-010",
      "pitch_deg": 0.0,
      "position": [
        0.2920396580437469,
        0.15050351288549485,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 1.1326238494741228,
      "yaw_deg": 38.89356140154672
    },
    {
      "asset_id": "AUX-TR-004",
      "pitch_deg": 0.0,
      "position": [
        -0.34565075001285017,
        1.0814295971122783,
        0.83
      ],
      "roll_deg": 0.0,
      "surface": "rear_bench",
      "uniform_scale": 0.8411606342590987,
      "yaw_deg": 56.91229684072303
    },
    {
      "asset_id": "PIP-008",
      "pitch_deg": 0.0,
      "position": [
        -0.5171283250060754,
        -0.21479488120587717,
        0.8023093792339091
      ],
      "roll_deg": -90.8024611784088,
      "surface": "main_table",
      "uniform_scale": 0.7979310293181828,
      "yaw_deg": 12.044745852743091
    },
    {
      "asset_id": "TIP-008",
      "pitch_deg": 0.0,
      "position": [
        -0.21499249996205205,
        -0.3271155224732496,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.8867551656386418,
      "yaw_deg": 157.21357505191867
    },
    {
      "asset_id": "SBI-005",
      "pitch_deg": 0.0,
      "position": [
        0.5140505331549763,
        -0.31705896059757943,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.7835554611215472,
      "yaw_deg": 141.2688990851886
    },
    {
      "asset_id": "PIP-017",
      "pitch_deg": 0.0,
      "position": [
        0.12347921029574183,
        1.0517090848036528,
        0.8440746203014228
      ],
      "roll_deg": 90.70481035001018,
      "surface": "rear_bench",
      "uniform_scale": 0.8032319704983893,
      "yaw_deg": 55.51030763940955
    }
  ],
  "duration_s": 17.11540520175523,
  "episode_id": 32,
  "error_type": "wrong_rack",
  "frame_count": 513,
  "generation_success": true,
  "light_color_rgb": [
    0.9366738090806418,
    0.92,
    0.92
  ],
  "light_intensity": 2423.6743018204343,
  "liquid": {
    "color_rgb": [
      0.05952458236866574,
      0.31585328509230254,
      0.23636027649456892
    ],
    "fill_fraction": 0.4692319349858619,
    "opacity": 0.8394239787443653,
    "vortex_level_rise_fraction": 0.18224273879380443
  },
  "metadata_schema_version": 2,
  "outcome": "failure",
  "physics_scene_count": 1,
  "rack_flip": {
    "angular_speed_rad_s": 2.1896963541024177,
    "direction_azimuth_deg": 85.48845393733268,
    "lateral_speed_mps": 0.05712545945802583,
    "phase": "lower_to_rack",
    "phase_fraction": 0.8151227997963364,
    "release_clearance_m": 0.009417020856437234,
    "release_tilt_deg": 128.48163479726628,
    "stage": "insertion",
    "tip_duration_s": 0.3897429938872064,
    "trigger_time_s": 15.681745014116283,
    "tube_detach_fraction": 0.5744221385672779,
    "tube_engagement_fraction": 0.5349246327360437,
    "tube_on_rack": true,
    "upward_speed_mps": 0.03991804397494313
  },
  "rack_id": "TR-002",
  "rack_position": [
    0.01810623871565209,
    -0.22133653854586183,
    0.79
  ],
  "rack_yaw_deg": -42.75972854869134,
  "randomization_results": {
    "assets": {
      "rack_id": "TR-002",
      "source_tube_has_cap": true,
      "tube_cap_present": true,
      "tube_id": "CT-005",
      "vortex_id": "VTX-005"
    },
    "distractors": {
      "count": 9,
      "placements": [
        {
          "asset_id": "TIP-002",
          "pitch_deg": 0.0,
          "position": [
            0.0906381540745893,
            0.3800693154102147,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.9575514218072476,
          "yaw_deg": 39.85640787127926
        },
        {
          "asset_id": "AUX-TR-003",
          "pitch_deg": 0.0,
          "position": [
            0.6729244185166697,
            0.2928265344004103,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.8355613244710248,
          "yaw_deg": 27.444840740887088
        },
        {
          "asset_id": "TR-008",
          "pitch_deg": 0.0,
          "position": [
            0.7146599152118046,
            0.08324917141678007,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 1.047291015414098,
          "yaw_deg": -32.788778904263694
        },
        {
          "asset_id": "TIP-010",
          "pitch_deg": 0.0,
          "position": [
            0.2920396580437469,
            0.15050351288549485,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 1.1326238494741228,
          "yaw_deg": 38.89356140154672
        },
        {
          "asset_id": "AUX-TR-004",
          "pitch_deg": 0.0,
          "position": [
            -0.34565075001285017,
            1.0814295971122783,
            0.83
          ],
          "roll_deg": 0.0,
          "surface": "rear_bench",
          "uniform_scale": 0.8411606342590987,
          "yaw_deg": 56.91229684072303
        },
        {
          "asset_id": "PIP-008",
          "pitch_deg": 0.0,
          "position": [
            -0.5171283250060754,
            -0.21479488120587717,
            0.8023093792339091
          ],
          "roll_deg": -90.8024611784088,
          "surface": "main_table",
          "uniform_scale": 0.7979310293181828,
          "yaw_deg": 12.044745852743091
        },
        {
          "asset_id": "TIP-008",
          "pitch_deg": 0.0,
          "position": [
            -0.21499249996205205,
            -0.3271155224732496,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.8867551656386418,
          "yaw_deg": 157.21357505191867
        },
        {
          "asset_id": "SBI-005",
          "pitch_deg": 0.0,
          "position": [
            0.5140505331549763,
            -0.31705896059757943,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.7835554611215472,
          "yaw_deg": 141.2688990851886
        },
        {
          "asset_id": "PIP-017",
          "pitch_deg": 0.0,
          "position": [
            0.12347921029574183,
            1.0517090848036528,
            0.8440746203014228
          ],
          "roll_deg": 90.70481035001018,
          "surface": "rear_bench",
          "uniform_scale": 0.8032319704983893,
          "yaw_deg": 55.51030763940955
        }
      ]
    },
    "environment": {
      "background": {
        "accent_color_rgb": [
          0.22097834504366387,
          0.5182504091543108,
          0.7233846321676367
        ],
        "cabinet_color_rgb": [
          0.7480692240039499,
          0.7242232227847291,
          0.793054658413784
        ],
        "floor_color_rgb": [
          0.3079411666695437,
          0.3693170738799531,
          0.39494251327803886
        ],
        "screen_color_rgb": [
          0.5059465416736905,
          0.7919630108011083,
          0.9100656494075378
        ],
        "style": "clean_room",
        "wall_color_rgb": [
          0.7971561774986824,
          0.884187250278271,
          0.8933814052257046
        ]
      },
      "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": [
        0.9366738090806418,
        0.92,
        0.92
      ],
      "light_intensity": 2423.6743018204343,
      "table_color_rgb": [
        0.26,
        0.32,
        0.42
      ]
    },
    "layout": {
      "rack_position_m": [
        0.01810623871565209,
        -0.22133653854586183,
        0.79
      ],
      "rack_to_vortex_bearing_deg": 146.64022168393683,
      "rack_to_vortex_distance_m": 0.6973530864560744,
      "rack_yaw_deg": -42.75972854869134,
      "return_slot_offset_xy_m": [
        -0.034,
        0.0
      ],
      "returns_to_different_slot": true,
      "start_slot_offset_xy_m": [
        -0.068,
        -0.034
      ],
      "tube_return_position_m": [
        -0.006856807503451388,
        -0.1982530742594315,
        0.8152000000000001
      ],
      "tube_start_position_m": [
        -0.05490331800898518,
        -0.20013265619210469,
        0.8152000000000001
      ],
      "vortex_contact_position_m": [
        -0.5578228325179793,
        0.2003641752074596,
        0.9580000000000001
      ],
      "vortex_position_m": [
        -0.564346835660738,
        0.1621341165756281,
        0.79
      ],
      "vortex_yaw_deg": -0.63487059729583
    },
    "liquid": {
      "color_rgb": [
        0.05952458236866574,
        0.31585328509230254,
        0.23636027649456892
      ],
      "effective_peak_level_fraction": 0.6514746737796664,
      "effective_vortex_level_rise_fraction": 0.18224273879380443,
      "fill_fraction": 0.4692319349858619,
      "opacity": 0.8394239787443653,
      "present": true,
      "vortex_level_rise_fraction": 0.18224273879380443
    },
    "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": 26580909,
    "trajectory": {
      "approach_pattern": "hook",
      "approach_sway_m": -0.005260807690626861,
      "depart_pattern": "hook",
      "depart_sway_m": -0.011329678532070517,
      "handling_noise_amplitude_m": 0.01476426187800187,
      "handling_noise_frequency_hz": 1.1430276229483294,
      "handling_noise_phase_xyz_rad": [
        6.1020284666780675,
        2.675191385672788,
        5.320815743470964
      ],
      "lift_height_m": 0.1615454161636532,
      "orientation_noise_deg": 5.328164002974532,
      "outbound_curve_bias": 0.6324849834800215,
      "outbound_pattern": "crescent",
      "phase_boundaries_s": {
        "final_hold": [
          15.908152510083706,
          17.11540520175523
        ],
        "initial_hold": [
          0.0,
          1.0634875990947996
        ],
        "lift_from_rack": [
          1.0634875990947996,
          2.0759022877085322
        ],
        "lower_to_rack": [
          14.68351531459389,
          15.908152510083706
        ],
        "lower_to_vortex": [
          4.128316765956626,
          5.079002604184063
        ],
        "raise_from_vortex": [
          10.050768970544137,
          11.43092742150921
        ],
        "transfer_to_rack": [
          11.43092742150921,
          14.68351531459389
        ],
        "transfer_to_vortex": [
          2.0759022877085322,
          4.128316765956626
        ],
        "vortex": [
          5.079002604184063,
          10.050768970544137
        ]
      },
      "pick_line_azimuth_deg": -139.57074732513422,
      "pick_line_tilt_deg": 2.765261829952878,
      "pick_pattern": "lean",
      "pick_sway_m": 0.006562360644279561,
      "put_pattern": "spiral",
      "put_sway_m": 0.007995100053528529,
      "rack_put_height_m": 0.3446287619057634,
      "return_bend_scale": 1.0304278434195882,
      "return_curve_bias": -0.001285481715488368,
      "return_pattern": "loop",
      "return_side": -1.0,
      "return_vertical_arc_scale": 0.9273205346513136,
      "transfer_bend_m": 0.08767180815632851,
      "transfer_side": 1.0,
      "transport_tilt_deg": 10.791496499023497,
      "vertical_arc_m": 0.17203514087772342,
      "vortex_apparent_frequency_hz": 8.89577136977394,
      "vortex_approach_height_m": 0.22855697115870793,
      "vortex_depart_height_m": 0.35255413383872225,
      "vortex_frequency_hz": 38.89577136977394,
      "vortex_phase_rad": 6.137117950525535,
      "vortex_radius_m": 0.0005359939077220486,
      "vortex_tilt_deg": 0.8505863048395529
    }
  },
  "render_fps": 30,
  "resolution": [
    1920,
    1200
  ],
  "return_slot_offset_xy": [
    -0.034,
    0.0
  ],
  "scene_id": "wrong_rack/scene_000032",
  "schema_version": 15,
  "seed": 26580909,
  "shared_state_file": "shared_state.npz",
  "shared_state_sha256": "19d06bbf6eab90061c774325f0ea78c7bab8a1f321acf73ad388ad248cbb5f91",
  "simultaneous_camera_count": 3,
  "source_tube_has_cap": true,
  "start_slot_offset_xy": [
    -0.068,
    -0.034
  ],
  "subtype_event": {
    "category": "wrong_rack",
    "event_phase": "lower_to_rack",
    "event_time_s": 15.483973892047043,
    "is_failure": true,
    "randomized_parameters": {
      "hole_relation": "too_small",
      "insertion_depth_m": 0.0,
      "insertion_succeeds": false,
      "placement_outcome": "physx_drop_pending",
      "position": [
        0.582307368947154,
        -0.09972556633876956,
        0.79
      ],
      "rack_id": "TR-003",
      "release_azimuth_deg": 26.339356811525988,
      "release_lateral_offset_m": 0.023449044813391676,
      "release_phase_fraction": 0.6536291567830387,
      "release_tilt_deg": 27.106492669639486,
      "release_time_s": 15.483973892047043,
      "slot_offset_xy": [
        0.04,
        0.0
      ],
      "tube_target_position": [
        0.6222579637159543,
        -0.097738111277869,
        0.8500000000000001
      ],
      "yaw_deg": 2.8479923182741658
    },
    "realized_outcome": {
      "fall_distance_m": 0.12208088182556887,
      "falling_under_gravity_at_episode_end": false,
      "final_angular_speed_deg_s": 130.86798095703125,
      "final_linear_speed_mps": 0.04316791519522667,
      "final_linear_velocity_mps": [
        0.005939548369497061,
        -0.04275734722614288,
        1.0350012189519475e-06
      ],
      "final_position_m": [
        0.6896185874938965,
        -0.13784678280353546,
        0.8083635568618774
      ],
      "final_protected_visual_minimum_z_m": 0.7902496509839652,
      "final_state_valid": true,
      "final_surface": "table",
      "final_tilt_from_upright_deg": 90.00053700610974,
      "first_impact_body": "wrong_rack",
      "first_impact_linear_speed_mps": 1.1822348833084106,
      "first_impact_position_m": [
        0.6455408930778503,
        -0.07873426377773285,
        0.849564254283905
      ],
      "first_impact_time_s": 15.608333333333333,
      "hole_relation": "too_small",
      "inside_wrong_rack_footprint": false,
      "minimum_root_z_m": 0.8071437478065491,
      "observed_outcome": "fell_to_table",
      "overlaps_wrong_rack_footprint": false,
      "planned_outcome": "physx_drop_pending",
      "planned_release_azimuth_deg": 26.339356811525988,
      "planned_release_lateral_offset_m": 0.023449044813391676,
      "planned_release_tilt_deg": 27.106492669639486,
      "post_release_scripted_control": false,
      "release_angular_velocity_rad_s": [
        0.0,
        0.0,
        0.0
      ],
      "release_height_above_rack_top_m": 0.07922462963211785,
      "release_linear_velocity_mps": [
        0.0,
        0.0,
        0.0
      ],
      "release_mode": "physx_gravity_from_rest",
      "release_phase": "lower_to_rack",
      "release_phase_fraction": 0.6536291567830387,
      "release_position_m": [
        0.6245262622374355,
        -0.08913829979442899,
        0.9292246296321179
      ],
      "release_time_s": 15.483973892047043,
      "support_clearance_m": 0.00024965098396512175,
      "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": [
    0.26,
    0.32,
    0.42
  ],
  "task": "vortexing",
  "trajectory": {
    "approach_pattern": "hook",
    "approach_sway_m": -0.005260807690626861,
    "depart_pattern": "hook",
    "depart_sway_m": -0.011329678532070517,
    "handling_noise_amplitude_m": 0.01476426187800187,
    "handling_noise_frequency_hz": 1.1430276229483294,
    "handling_noise_phase_xyz_rad": [
      6.1020284666780675,
      2.675191385672788,
      5.320815743470964
    ],
    "lift_height_m": 0.1615454161636532,
    "orientation_noise_deg": 5.328164002974532,
    "outbound_curve_bias": 0.6324849834800215,
    "outbound_pattern": "crescent",
    "phase_boundaries_s": {
      "final_hold": [
        15.908152510083706,
        17.11540520175523
      ],
      "initial_hold": [
        0.0,
        1.0634875990947996
      ],
      "lift_from_rack": [
        1.0634875990947996,
        2.0759022877085322
      ],
      "lower_to_rack": [
        14.68351531459389,
        15.908152510083706
      ],
      "lower_to_vortex": [
        4.128316765956626,
        5.079002604184063
      ],
      "raise_from_vortex": [
        10.050768970544137,
        11.43092742150921
      ],
      "transfer_to_rack": [
        11.43092742150921,
        14.68351531459389
      ],
      "transfer_to_vortex": [
        2.0759022877085322,
        4.128316765956626
      ],
      "vortex": [
        5.079002604184063,
        10.050768970544137
      ]
    },
    "pick_line_azimuth_deg": -139.57074732513422,
    "pick_line_tilt_deg": 2.765261829952878,
    "pick_pattern": "lean",
    "pick_sway_m": 0.006562360644279561,
    "put_pattern": "spiral",
    "put_sway_m": 0.007995100053528529,
    "rack_put_height_m": 0.3446287619057634,
    "return_bend_scale": 1.0304278434195882,
    "return_curve_bias": -0.001285481715488368,
    "return_pattern": "loop",
    "return_side": -1.0,
    "return_vertical_arc_scale": 0.9273205346513136,
    "transfer_bend_m": 0.08767180815632851,
    "transfer_side": 1.0,
    "transport_tilt_deg": 10.791496499023497,
    "vertical_arc_m": 0.17203514087772342,
    "vortex_apparent_frequency_hz": 8.89577136977394,
    "vortex_approach_height_m": 0.22855697115870793,
    "vortex_depart_height_m": 0.35255413383872225,
    "vortex_frequency_hz": 38.89577136977394,
    "vortex_phase_rad": 6.137117950525535,
    "vortex_radius_m": 0.0005359939077220486,
    "vortex_tilt_deg": 0.8505863048395529
  },
  "trajectory_validation": {
    "duration_s": 17.11540520175523,
    "final_position_error_m": 0.0,
    "finite": true,
    "max_boundary_angular_jump_deg": 0.0,
    "max_boundary_position_jump_m": 1.1157603309187458e-15,
    "max_quaternion_norm_error": 1.1102230246251565e-16,
    "max_sample_step_m": 0.003623787537971781,
    "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": "vortex",
    "phase_fraction": 0.5153533633205902,
    "release_time_s": 7.641219122731917,
    "target_surface": "vortex",
    "vortex_release_azimuth_deg": 70.03401949335583,
    "vortex_release_offset_m": 0.029091211499359827,
    "vortex_release_tilt_deg": 0.0
  },
  "tube_id": "CT-005",
  "tube_return_position": [
    -0.006856807503451388,
    -0.1982530742594315,
    0.8152000000000001
  ],
  "tube_start_position": [
    -0.05490331800898518,
    -0.20013265619210469,
    0.8152000000000001
  ],
  "video": "front.mp4",
  "video_sha256": "be772d3fc450f46711e638edf3a0267fb2649381c2dcae25967329792591f0d9",
  "video_validation": {
    "actual_frame_count": 513,
    "content_valid": true,
    "decode_error": null,
    "expected_frame_count": 513,
    "frame_count_valid": true,
    "full_decode_frame_count": 513,
    "max_changed_pixel_fraction": 0.014702256944444445,
    "mean_luminance": 153.57962036132812,
    "motion_valid": true,
    "resolution_valid": true,
    "sampled_frame_indices": [
      0,
      85,
      171,
      256,
      341,
      427,
      512
    ],
    "spatial_standard_deviation": 31.331514358520508,
    "valid": true
  },
  "view_index": 1,
  "view_order": [
    "left",
    "front",
    "right"
  ],
  "vortex_contact_position": [
    -0.5578228325179793,
    0.2003641752074596,
    0.9580000000000001
  ],
  "vortex_id": "VTX-005",
  "vortex_position": [
    -0.564346835660738,
    0.1621341165756281,
    0.79
  ],
  "vortex_yaw_deg": -0.63487059729583,
  "wrong_orientation": {
    "azimuth_deg": 100.63732344922869,
    "mode": "tilted",
    "tilt_deg_from_z": 52.898956455765386
  },
  "wrong_rack": {
    "hole_relation": "too_small",
    "insertion_depth_m": 0.0,
    "insertion_succeeds": false,
    "placement_outcome": "physx_drop_pending",
    "position": [
      0.582307368947154,
      -0.09972556633876956,
      0.79
    ],
    "rack_id": "TR-003",
    "release_azimuth_deg": 26.339356811525988,
    "release_lateral_offset_m": 0.023449044813391676,
    "release_phase_fraction": 0.6536291567830387,
    "release_tilt_deg": 27.106492669639486,
    "release_time_s": 15.483973892047043,
    "slot_offset_xy": [
      0.04,
      0.0
    ],
    "tube_target_position": [
      0.6222579637159543,
      -0.097738111277869,
      0.8500000000000001
    ],
    "yaw_deg": 2.8479923182741658
  },
  "wrong_rack_physics": {
    "fall_distance_m": 0.12208088182556887,
    "falling_under_gravity_at_episode_end": false,
    "final_angular_speed_deg_s": 130.86798095703125,
    "final_linear_speed_mps": 0.04316791519522667,
    "final_linear_velocity_mps": [
      0.005939548369497061,
      -0.04275734722614288,
      1.0350012189519475e-06
    ],
    "final_position_m": [
      0.6896185874938965,
      -0.13784678280353546,
      0.8083635568618774
    ],
    "final_protected_visual_minimum_z_m": 0.7902496509839652,
    "final_state_valid": true,
    "final_surface": "table",
    "final_tilt_from_upright_deg": 90.00053700610974,
    "first_impact_body": "wrong_rack",
    "first_impact_linear_speed_mps": 1.1822348833084106,
    "first_impact_position_m": [
      0.6455408930778503,
      -0.07873426377773285,
      0.849564254283905
    ],
    "first_impact_time_s": 15.608333333333333,
    "hole_relation": "too_small",
    "inside_wrong_rack_footprint": false,
    "minimum_root_z_m": 0.8071437478065491,
    "observed_outcome": "fell_to_table",
    "overlaps_wrong_rack_footprint": false,
    "planned_outcome": "physx_drop_pending",
    "planned_release_azimuth_deg": 26.339356811525988,
    "planned_release_lateral_offset_m": 0.023449044813391676,
    "planned_release_tilt_deg": 27.106492669639486,
    "post_release_scripted_control": false,
    "release_angular_velocity_rad_s": [
      0.0,
      0.0,
      0.0
    ],
    "release_height_above_rack_top_m": 0.07922462963211785,
    "release_linear_velocity_mps": [
      0.0,
      0.0,
      0.0
    ],
    "release_mode": "physx_gravity_from_rest",
    "release_phase": "lower_to_rack",
    "release_phase_fraction": 0.6536291567830387,
    "release_position_m": [
      0.6245262622374355,
      -0.08913829979442899,
      0.9292246296321179
    ],
    "release_time_s": 15.483973892047043,
    "support_clearance_m": 0.00024965098396512175,
    "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"
  }
}