{ "background": { "accent_color_rgb": [ 0.8835032206025119, 0.7623595250001803, 0.22159703414478868 ], "cabinet_color_rgb": [ 0.6462555437767128, 0.6639485323559434, 0.6731684424569542 ], "floor_color_rgb": [ 0.2359588845126675, 0.29157681366438754, 0.36742944642388986 ], "screen_color_rgb": [ 0.2756259139052103, 0.6964891897073856, 0.8420830932586191 ], "style": "biosafety", "wall_color_rgb": [ 0.7491794688369126, 0.8036410679270122, 0.8281395750082146 ] }, "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": [ [ 0.0069431176558121255, -0.9998646519461332, 0.014915458620346878, 0.3823153391987899 ], [ -0.43151957629920296, -0.016451368713684023, -0.901953550765228, 0.9426920936472298 ], [ 0.9020768528167509, -0.00017394276111992735, -0.4315753947529237, 2.4179538337905133 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "T_world_from_camera": [ [ 0.0069431176558121255, -0.43151957629920296, 0.9020768528167509, -1.777044552192361 ], [ -0.9998646519461332, -0.016451368713684023, -0.00017394276111992735, 0.3981927543438413 ], [ 0.014915458620346878, -0.901953550765228, -0.4315753947529237, 1.8880914528341686 ], [ 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": "left", "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": [ -1.777044552192361, 0.3981927543438413, 1.8880914528341686 ], "camera_focal_length_mm": 10.9140625, "camera_orientation_xyzw": [ 0.6031106617202228, -0.5933339928706739, 0.38010947643571985, -0.3738035427163593 ], "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": [ -1.7770445346832275, 0.39819276332855225, 1.8880914449691772 ], "actual_quaternion_xyzw": [ -0.6031106114387512, 0.5933340191841125, -0.3801094889640808, 0.3738035559654236 ], "valid": true }, "camera_target": [ -0.8749676993756101, 0.3980188115827214, 1.4565160580812448 ], "camera_view": "left", "distractors": [ { "asset_id": "RES-001", "pitch_deg": 0.0, "position": [ 0.3157942063700633, -0.18919735533658333, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9202752578158017, "yaw_deg": 106.1626517799861 }, { "asset_id": "SBI-002", "pitch_deg": 0.0, "position": [ 0.6335962476845717, -0.21777494539824516, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8757509195792292, "yaw_deg": 114.53625510163272 }, { "asset_id": "PIP-005", "pitch_deg": 0.0, "position": [ -0.02986328085114709, 1.066149660323853, 0.8392529975844375 ], "roll_deg": -90.58576661488586, "surface": "rear_bench", "uniform_scale": 1.0609694041742466, "yaw_deg": -34.67916622366192 }, { "asset_id": "TR-005", "pitch_deg": 0.0, "position": [ -0.7821395802915219, 1.083656409435819, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.8375597714436603, "yaw_deg": 61.75179367884351 }, { "asset_id": "TIP-010", "pitch_deg": 0.0, "position": [ 0.11688843784256064, 0.3505387695782348, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.793835322953861, "yaw_deg": -179.6863901869196 }, { "asset_id": "SBI-005", "pitch_deg": 0.0, "position": [ -0.6823199742949916, 0.2226750340578938, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.174703861588855, "yaw_deg": 18.12313947738579 } ], "duration_s": 16.282885064426385, "episode_id": 36, "error_type": "wrong_rack", "frame_count": 488, "generation_success": true, "light_color_rgb": [ 0.9997144068992307, 0.92, 0.92 ], "light_intensity": 2045.9776197851127, "liquid": { "color_rgb": [ 0.028370004828800838, 0.3048376153390796, 0.2249040318886892 ], "fill_fraction": 0.4136218146307984, "opacity": 0.8887708108983845, "vortex_level_rise_fraction": 0.20397131226742962 }, "metadata_schema_version": 2, "outcome": "failure", "physics_scene_count": 1, "rack_flip": { "angular_speed_rad_s": 2.156274067609137, "direction_azimuth_deg": 51.67245223025378, "lateral_speed_mps": 0.08204715069559165, "phase": "lift_from_rack", "phase_fraction": 0.2432234692728219, "release_clearance_m": 0.009677446612052956, "release_tilt_deg": 129.1276101840685, "stage": "pickup", "tip_duration_s": 0.2816805933773605, "trigger_time_s": 1.3118297805466146, "tube_detach_fraction": 0.44782724112717076, "tube_engagement_fraction": 0.6244559757689507, "tube_on_rack": true, "upward_speed_mps": 0.06163577501496059 }, "rack_id": "TR-002", "rack_position": [ 0.25589230921715667, 0.046424108007589227, 0.79 ], "rack_yaw_deg": 43.75298292686939, "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": 6, "placements": [ { "asset_id": "RES-001", "pitch_deg": 0.0, "position": [ 0.3157942063700633, -0.18919735533658333, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.9202752578158017, "yaw_deg": 106.1626517799861 }, { "asset_id": "SBI-002", "pitch_deg": 0.0, "position": [ 0.6335962476845717, -0.21777494539824516, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8757509195792292, "yaw_deg": 114.53625510163272 }, { "asset_id": "PIP-005", "pitch_deg": 0.0, "position": [ -0.02986328085114709, 1.066149660323853, 0.8392529975844375 ], "roll_deg": -90.58576661488586, "surface": "rear_bench", "uniform_scale": 1.0609694041742466, "yaw_deg": -34.67916622366192 }, { "asset_id": "TR-005", "pitch_deg": 0.0, "position": [ -0.7821395802915219, 1.083656409435819, 0.83 ], "roll_deg": 0.0, "surface": "rear_bench", "uniform_scale": 0.8375597714436603, "yaw_deg": 61.75179367884351 }, { "asset_id": "TIP-010", "pitch_deg": 0.0, "position": [ 0.11688843784256064, 0.3505387695782348, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.793835322953861, "yaw_deg": -179.6863901869196 }, { "asset_id": "SBI-005", "pitch_deg": 0.0, "position": [ -0.6823199742949916, 0.2226750340578938, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.174703861588855, "yaw_deg": 18.12313947738579 } ] }, "environment": { "background": { "accent_color_rgb": [ 0.8835032206025119, 0.7623595250001803, 0.22159703414478868 ], "cabinet_color_rgb": [ 0.6462555437767128, 0.6639485323559434, 0.6731684424569542 ], "floor_color_rgb": [ 0.2359588845126675, 0.29157681366438754, 0.36742944642388986 ], "screen_color_rgb": [ 0.2756259139052103, 0.6964891897073856, 0.8420830932586191 ], "style": "biosafety", "wall_color_rgb": [ 0.7491794688369126, 0.8036410679270122, 0.8281395750082146 ] }, "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": [ [ 0.0069431176558121255, -0.9998646519461332, 0.014915458620346878, 0.3823153391987899 ], [ -0.43151957629920296, -0.016451368713684023, -0.901953550765228, 0.9426920936472298 ], [ 0.9020768528167509, -0.00017394276111992735, -0.4315753947529237, 2.4179538337905133 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "T_world_from_camera": [ [ 0.0069431176558121255, -0.43151957629920296, 0.9020768528167509, -1.777044552192361 ], [ -0.9998646519461332, -0.016451368713684023, -0.00017394276111992735, 0.3981927543438413 ], [ 0.014915458620346878, -0.901953550765228, -0.4315753947529237, 1.8880914528341686 ], [ 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": "left", "world_frame": "Environment-local metres, +Z up; environment spacing translation excluded" }, "camera_eye_m": [ -1.777044552192361, 0.3981927543438413, 1.8880914528341686 ], "camera_focal_length_mm": 10.9140625, "camera_target_m": [ -0.8749676993756101, 0.3980188115827214, 1.4565160580812448 ], "light_color_rgb": [ 0.9997144068992307, 0.92, 0.92 ], "light_intensity": 2045.9776197851127, "table_color_rgb": [ 0.36, 0.42, 0.48 ] }, "layout": { "rack_position_m": [ 0.25589230921715667, 0.046424108007589227, 0.79 ], "rack_to_vortex_bearing_deg": -178.65625407913726, "rack_to_vortex_distance_m": 0.7738916944619663, "rack_yaw_deg": 43.75298292686939, "return_slot_offset_xy_m": [ 0.068, -0.034 ], "returns_to_different_slot": true, "start_slot_offset_xy_m": [ 0.068, 0.068 ], "tube_return_position_m": [ 0.32852333299438263, 0.06889040242994633, 0.8152000000000001 ], "tube_start_position_m": [ 0.2579851654212185, 0.14256785430920327, 0.8152000000000001 ], "vortex_contact_position_m": [ -0.5098894213104317, 0.06624603985061377, 0.9580000000000001 ], "vortex_position_m": [ -0.5177865618646332, 0.028275851925516713, 0.79 ], "vortex_yaw_deg": -2.6996005077388503 }, "liquid": { "color_rgb": [ 0.028370004828800838, 0.3048376153390796, 0.2249040318886892 ], "effective_peak_level_fraction": 0.617593126898228, "effective_vortex_level_rise_fraction": 0.20397131226742962, "fill_fraction": 0.4136218146307984, "opacity": 0.8887708108983845, "present": true, "vortex_level_rise_fraction": 0.20397131226742962 }, "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": 26620910, "trajectory": { "approach_pattern": "spiral", "approach_sway_m": 0.007169385759094965, "depart_pattern": "s_sway", "depart_sway_m": 0.006532400358516446, "handling_noise_amplitude_m": 0.005183495603921246, "handling_noise_frequency_hz": 2.639327398104326, "handling_noise_phase_xyz_rad": [ 4.548070039344652, 1.7839322241413795, 5.4925640053771545 ], "lift_height_m": 0.1354321128258767, "orientation_noise_deg": 4.032365972824143, "outbound_curve_bias": 0.551404894197485, "outbound_pattern": "late_swoop", "phase_boundaries_s": { "final_hold": [ 15.495961100594249, 16.282885064426385 ], "initial_hold": [ 0.0, 1.0127344459471095 ], "lift_from_rack": [ 1.0127344459471095, 2.242448566437728 ], "lower_to_rack": [ 14.375321601317092, 15.495961100594249 ], "lower_to_vortex": [ 4.439648309665809, 5.838418263389794 ], "raise_from_vortex": [ 10.654313382278383, 11.871389161387672 ], "transfer_to_rack": [ 11.871389161387672, 14.375321601317092 ], "transfer_to_vortex": [ 2.242448566437728, 4.439648309665809 ], "vortex": [ 5.838418263389794, 10.654313382278383 ] }, "pick_line_azimuth_deg": -42.555273248691805, "pick_line_tilt_deg": 0.7232010827307906, "pick_pattern": "straight", "pick_sway_m": -0.004720419379846875, "put_pattern": "straight", "put_sway_m": 0.0061275091815459004, "rack_put_height_m": 0.17417775884841274, "return_bend_scale": 0.7859053051841597, "return_curve_bias": 0.16577663903164175, "return_pattern": "direct", "return_side": -1.0, "return_vertical_arc_scale": 0.6063221668708656, "transfer_bend_m": 0.07037401638034958, "transfer_side": 1.0, "transport_tilt_deg": 12.812359726253604, "vertical_arc_m": 0.2779350459792182, "vortex_apparent_frequency_hz": 5.539711422104688, "vortex_approach_height_m": 0.27177844133672463, "vortex_depart_height_m": 0.35965203898830617, "vortex_frequency_hz": 35.53971142210469, "vortex_phase_rad": 5.557908917697968, "vortex_radius_m": 0.0004458607044542566, "vortex_tilt_deg": 0.20188146525257325 } }, "render_fps": 30, "resolution": [ 1920, 1200 ], "return_slot_offset_xy": [ 0.068, -0.034 ], "scene_id": "wrong_rack/scene_000036", "schema_version": 15, "seed": 26620910, "shared_state_file": "shared_state.npz", "shared_state_sha256": "1ee8e4131d91ce73f4c668395bf15cfe9d79b17aa37735560376dda6daec269f", "simultaneous_camera_count": 3, "source_tube_has_cap": true, "start_slot_offset_xy": [ 0.068, 0.068 ], "subtype_event": { "category": "wrong_rack", "event_phase": "lower_to_rack", "event_time_s": 15.21920899800929, "is_failure": true, "randomized_parameters": { "hole_relation": "too_small", "insertion_depth_m": 0.0, "insertion_succeeds": false, "placement_outcome": "physx_drop_pending", "position": [ -0.5933525602537713, -0.2690492660312838, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": 164.59721797045836, "release_lateral_offset_m": 0.02014568668921117, "release_phase_fraction": 0.7530409174730389, "release_tilt_deg": 26.730277478723877, "release_time_s": 15.21920899800929, "slot_offset_xy": [ 0.04, 0.0 ], "tube_target_position": [ -0.5611308068552726, -0.24534781865087382, 0.8500000000000001 ], "yaw_deg": 36.33719086235635 }, "realized_outcome": { "fall_distance_m": 0.00935840543300337, "falling_under_gravity_at_episode_end": false, "final_angular_speed_deg_s": 45.58425521850586, "final_linear_speed_mps": 0.01773112267255783, "final_linear_velocity_mps": [ 0.008076785132288933, 0.015437065623700619, -0.003294736612588167 ], "final_position_m": [ -0.5997222661972046, -0.23699334263801575, 0.8678222298622131 ], "final_protected_visual_minimum_z_m": 0.7902500193992977, "final_state_valid": true, "final_surface": "table", "final_tilt_from_upright_deg": 114.006682239614, "first_impact_body": "wrong_rack", "first_impact_linear_speed_mps": 0.6956577897071838, "first_impact_position_m": [ -0.5862712264060974, -0.23338554799556732, 0.872628390789032 ], "first_impact_time_s": 15.466666666666667, "hole_relation": "too_small", "inside_wrong_rack_footprint": true, "minimum_root_z_m": 0.858119010925293, "observed_outcome": "toppled_on_wrong_rack", "overlaps_wrong_rack_footprint": true, "planned_outcome": "physx_drop_pending", "planned_release_azimuth_deg": 164.59721797045836, "planned_release_lateral_offset_m": 0.02014568668921117, "planned_release_tilt_deg": 26.730277478723877, "post_release_scripted_control": false, "release_angular_velocity_rad_s": [ 0.0, 0.0, 0.0 ], "release_height_above_rack_top_m": 0.01747741635829625, "release_linear_velocity_mps": [ 0.0, 0.0, 0.0 ], "release_mode": "physx_gravity_from_rest", "release_phase": "lower_to_rack", "release_phase_fraction": 0.7530409174730389, "release_position_m": [ -0.5611307878045732, -0.245659071350362, 0.8674774163582963 ], "release_time_s": 15.21920899800929, "support_clearance_m": 0.00025001939929769623, "support_surface_z_m": 0.79, "target_body": "wrong_rack", "tube_root_below_rack_top": false, "valid": true, "visual_surface_nonpenetration_valid": true, "wrong_rack_id": "TR-003" } }, "table_color_rgb": [ 0.36, 0.42, 0.48 ], "task": "vortexing", "trajectory": { "approach_pattern": "spiral", "approach_sway_m": 0.007169385759094965, "depart_pattern": "s_sway", "depart_sway_m": 0.006532400358516446, "handling_noise_amplitude_m": 0.005183495603921246, "handling_noise_frequency_hz": 2.639327398104326, "handling_noise_phase_xyz_rad": [ 4.548070039344652, 1.7839322241413795, 5.4925640053771545 ], "lift_height_m": 0.1354321128258767, "orientation_noise_deg": 4.032365972824143, "outbound_curve_bias": 0.551404894197485, "outbound_pattern": "late_swoop", "phase_boundaries_s": { "final_hold": [ 15.495961100594249, 16.282885064426385 ], "initial_hold": [ 0.0, 1.0127344459471095 ], "lift_from_rack": [ 1.0127344459471095, 2.242448566437728 ], "lower_to_rack": [ 14.375321601317092, 15.495961100594249 ], "lower_to_vortex": [ 4.439648309665809, 5.838418263389794 ], "raise_from_vortex": [ 10.654313382278383, 11.871389161387672 ], "transfer_to_rack": [ 11.871389161387672, 14.375321601317092 ], "transfer_to_vortex": [ 2.242448566437728, 4.439648309665809 ], "vortex": [ 5.838418263389794, 10.654313382278383 ] }, "pick_line_azimuth_deg": -42.555273248691805, "pick_line_tilt_deg": 0.7232010827307906, "pick_pattern": "straight", "pick_sway_m": -0.004720419379846875, "put_pattern": "straight", "put_sway_m": 0.0061275091815459004, "rack_put_height_m": 0.17417775884841274, "return_bend_scale": 0.7859053051841597, "return_curve_bias": 0.16577663903164175, "return_pattern": "direct", "return_side": -1.0, "return_vertical_arc_scale": 0.6063221668708656, "transfer_bend_m": 0.07037401638034958, "transfer_side": 1.0, "transport_tilt_deg": 12.812359726253604, "vertical_arc_m": 0.2779350459792182, "vortex_apparent_frequency_hz": 5.539711422104688, "vortex_approach_height_m": 0.27177844133672463, "vortex_depart_height_m": 0.35965203898830617, "vortex_frequency_hz": 35.53971142210469, "vortex_phase_rad": 5.557908917697968, "vortex_radius_m": 0.0004458607044542566, "vortex_tilt_deg": 0.20188146525257325 }, "trajectory_validation": { "duration_s": 16.282885064426385, "final_position_error_m": 0.0, "finite": true, "max_boundary_angular_jump_deg": 0.0, "max_boundary_position_jump_m": 8.618765454229259e-16, "max_quaternion_norm_error": 1.1102230246251565e-16, "max_sample_step_m": 0.0035491540220492905, "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_rack", "phase_fraction": 0.18, "release_time_s": 12.322097000574967, "target_surface": "table", "vortex_release_azimuth_deg": 0.0, "vortex_release_offset_m": 0.0, "vortex_release_tilt_deg": 0.0 }, "tube_id": "CT-005", "tube_return_position": [ 0.32852333299438263, 0.06889040242994633, 0.8152000000000001 ], "tube_start_position": [ 0.2579851654212185, 0.14256785430920327, 0.8152000000000001 ], "video": "left.mp4", "video_sha256": "8ced17172388b966f99a2d061c5f441b1633a73075ce3cef865706a2f313d907", "video_validation": { "actual_frame_count": 488, "content_valid": true, "decode_error": null, "expected_frame_count": 488, "frame_count_valid": true, "full_decode_frame_count": 488, "max_changed_pixel_fraction": 0.012532986111111111, "mean_luminance": 149.0319061279297, "motion_valid": true, "resolution_valid": true, "sampled_frame_indices": [ 0, 81, 162, 244, 325, 406, 487 ], "spatial_standard_deviation": 37.34046936035156, "valid": true }, "view_index": 0, "view_order": [ "left", "front", "right" ], "vortex_contact_position": [ -0.5098894213104317, 0.06624603985061377, 0.9580000000000001 ], "vortex_id": "VTX-005", "vortex_position": [ -0.5177865618646332, 0.028275851925516713, 0.79 ], "vortex_yaw_deg": -2.6996005077388503, "wrong_orientation": { "azimuth_deg": 82.64559839127719, "mode": "tilted", "tilt_deg_from_z": 36.79157669875825 }, "wrong_rack": { "hole_relation": "too_small", "insertion_depth_m": 0.0, "insertion_succeeds": false, "placement_outcome": "physx_drop_pending", "position": [ -0.5933525602537713, -0.2690492660312838, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": 164.59721797045836, "release_lateral_offset_m": 0.02014568668921117, "release_phase_fraction": 0.7530409174730389, "release_tilt_deg": 26.730277478723877, "release_time_s": 15.21920899800929, "slot_offset_xy": [ 0.04, 0.0 ], "tube_target_position": [ -0.5611308068552726, -0.24534781865087382, 0.8500000000000001 ], "yaw_deg": 36.33719086235635 }, "wrong_rack_physics": { "fall_distance_m": 0.00935840543300337, "falling_under_gravity_at_episode_end": false, "final_angular_speed_deg_s": 45.58425521850586, "final_linear_speed_mps": 0.01773112267255783, "final_linear_velocity_mps": [ 0.008076785132288933, 0.015437065623700619, -0.003294736612588167 ], "final_position_m": [ -0.5997222661972046, -0.23699334263801575, 0.8678222298622131 ], "final_protected_visual_minimum_z_m": 0.7902500193992977, "final_state_valid": true, "final_surface": "table", "final_tilt_from_upright_deg": 114.006682239614, "first_impact_body": "wrong_rack", "first_impact_linear_speed_mps": 0.6956577897071838, "first_impact_position_m": [ -0.5862712264060974, -0.23338554799556732, 0.872628390789032 ], "first_impact_time_s": 15.466666666666667, "hole_relation": "too_small", "inside_wrong_rack_footprint": true, "minimum_root_z_m": 0.858119010925293, "observed_outcome": "toppled_on_wrong_rack", "overlaps_wrong_rack_footprint": true, "planned_outcome": "physx_drop_pending", "planned_release_azimuth_deg": 164.59721797045836, "planned_release_lateral_offset_m": 0.02014568668921117, "planned_release_tilt_deg": 26.730277478723877, "post_release_scripted_control": false, "release_angular_velocity_rad_s": [ 0.0, 0.0, 0.0 ], "release_height_above_rack_top_m": 0.01747741635829625, "release_linear_velocity_mps": [ 0.0, 0.0, 0.0 ], "release_mode": "physx_gravity_from_rest", "release_phase": "lower_to_rack", "release_phase_fraction": 0.7530409174730389, "release_position_m": [ -0.5611307878045732, -0.245659071350362, 0.8674774163582963 ], "release_time_s": 15.21920899800929, "support_clearance_m": 0.00025001939929769623, "support_surface_z_m": 0.79, "target_body": "wrong_rack", "tube_root_below_rack_top": false, "valid": true, "visual_surface_nonpenetration_valid": true, "wrong_rack_id": "TR-003" } }