{ "background": { "accent_color_rgb": [ 0.8684225467487261, 0.56530959833413, 0.13634683136832343 ], "cabinet_color_rgb": [ 0.504146126509259, 0.6016618630238316, 0.5907160443845588 ], "floor_color_rgb": [ 0.2494656171051125, 0.2967756287124681, 0.3244359987138584 ], "screen_color_rgb": [ 0.3395719766188313, 0.7264765664984592, 0.6643055536963407 ], "style": "wet_lab", "wall_color_rgb": [ 0.7332244522600838, 0.8243012344053038, 0.7337483908568524 ] }, "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-010", "pitch_deg": 0.0, "position": [ 0.6909699107746198, -0.1145385767574773, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0581135471827197, "yaw_deg": -154.94636936853416 }, { "asset_id": "TIP-006", "pitch_deg": 0.0, "position": [ -0.1570784020680368, 0.16899445686601622, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.057712876589982, "yaw_deg": -120.29512510489943 }, { "asset_id": "PIP-007", "pitch_deg": -88.27772736762073, "position": [ -0.4837538484800194, 0.3801265873147729, 0.814735473572641 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.1168421001217046, "yaw_deg": -146.95112720414605 }, { "asset_id": "RES-008", "pitch_deg": 0.0, "position": [ -0.26502511435104387, -0.26272225526491577, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8569057539263943, "yaw_deg": -140.80704211342842 }, { "asset_id": "PIP-001", "pitch_deg": 88.80760688476582, "position": [ -0.4817944364316362, -0.042298111358406054, 0.804975214313044 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8440358200025645, "yaw_deg": -17.934750200009688 }, { "asset_id": "TIP-008", "pitch_deg": 0.0, "position": [ 0.10727665581549473, 0.16381369748510183, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.04999715148621, "yaw_deg": 7.338651245436893 } ], "duration_s": 15.465723747224956, "episode_id": 43, "error_type": "wrong_rack", "frame_count": 464, "generation_success": true, "light_color_rgb": [ 0.9421769319543913, 0.92, 0.92 ], "light_intensity": 2229.03630654563, "liquid": { "color_rgb": [ 0.3216199528470256, 0.08231153082852496, 0.15798816956591014 ], "fill_fraction": 0.49848550038512174, "opacity": 0.8218982202392747, "vortex_level_rise_fraction": 0.19144605451900198 }, "metadata_schema_version": 2, "outcome": "failure", "physics_scene_count": 1, "rack_flip": { "angular_speed_rad_s": 1.5805480062661668, "direction_azimuth_deg": -87.57574186651357, "lateral_speed_mps": 0.061471148267733144, "phase": "lower_to_rack", "phase_fraction": 0.6775551288567794, "release_clearance_m": 0.004607444551312628, "release_tilt_deg": 113.75488844491133, "stage": "insertion", "tip_duration_s": 0.3747791587619175, "trigger_time_s": 14.484146180293642, "tube_detach_fraction": 0.5847571269391907, "tube_engagement_fraction": 0.34642220966839155, "tube_on_rack": true, "upward_speed_mps": 0.09424070425549866 }, "rack_id": "TR-004", "rack_position": [ -0.09557416668645069, -0.24038431105359814, 0.79 ], "rack_yaw_deg": 4.736146230706069, "randomization_results": { "assets": { "rack_id": "TR-004", "source_tube_has_cap": true, "tube_cap_present": true, "tube_id": "CT-009", "vortex_id": "VTX-002" }, "distractors": { "count": 6, "placements": [ { "asset_id": "TIP-010", "pitch_deg": 0.0, "position": [ 0.6909699107746198, -0.1145385767574773, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.0581135471827197, "yaw_deg": -154.94636936853416 }, { "asset_id": "TIP-006", "pitch_deg": 0.0, "position": [ -0.1570784020680368, 0.16899445686601622, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.057712876589982, "yaw_deg": -120.29512510489943 }, { "asset_id": "PIP-007", "pitch_deg": -88.27772736762073, "position": [ -0.4837538484800194, 0.3801265873147729, 0.814735473572641 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.1168421001217046, "yaw_deg": -146.95112720414605 }, { "asset_id": "RES-008", "pitch_deg": 0.0, "position": [ -0.26502511435104387, -0.26272225526491577, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8569057539263943, "yaw_deg": -140.80704211342842 }, { "asset_id": "PIP-001", "pitch_deg": 88.80760688476582, "position": [ -0.4817944364316362, -0.042298111358406054, 0.804975214313044 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 0.8440358200025645, "yaw_deg": -17.934750200009688 }, { "asset_id": "TIP-008", "pitch_deg": 0.0, "position": [ 0.10727665581549473, 0.16381369748510183, 0.79 ], "roll_deg": 0.0, "surface": "main_table", "uniform_scale": 1.04999715148621, "yaw_deg": 7.338651245436893 } ] }, "environment": { "background": { "accent_color_rgb": [ 0.8684225467487261, 0.56530959833413, 0.13634683136832343 ], "cabinet_color_rgb": [ 0.504146126509259, 0.6016618630238316, 0.5907160443845588 ], "floor_color_rgb": [ 0.2494656171051125, 0.2967756287124681, 0.3244359987138584 ], "screen_color_rgb": [ 0.3395719766188313, 0.7264765664984592, 0.6643055536963407 ], "style": "wet_lab", "wall_color_rgb": [ 0.7332244522600838, 0.8243012344053038, 0.7337483908568524 ] }, "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": [ 0.9421769319543913, 0.92, 0.92 ], "light_intensity": 2229.03630654563, "table_color_rgb": [ 0.36, 0.42, 0.48 ] }, "layout": { "rack_position_m": [ -0.09557416668645069, -0.24038431105359814, 0.79 ], "rack_to_vortex_bearing_deg": 31.294682860512914, "rack_to_vortex_distance_m": 0.7394868442754312, "rack_yaw_deg": 4.736146230706069, "return_slot_offset_xy_m": [ 0.025, 0.0 ], "returns_to_different_slot": true, "start_slot_offset_xy_m": [ 0.075, 0.0 ], "tube_return_position_m": [ -0.07065952928934384, -0.23832013001243801, 0.8529 ], "tube_start_position_m": [ -0.02083025449513015, -0.2341917679301178, 0.8529 ], "vortex_contact_position_m": [ 0.5265638224235955, 0.17047160060985553, 0.9790000000000001 ], "vortex_position_m": [ 0.5363225467385209, 0.1437345981648303, 0.79 ], "vortex_yaw_deg": 0.9800072795902821 }, "liquid": { "color_rgb": [ 0.3216199528470256, 0.08231153082852496, 0.15798816956591014 ], "effective_peak_level_fraction": 0.6899315549041237, "effective_vortex_level_rise_fraction": 0.19144605451900198, "fill_fraction": 0.49848550038512174, "opacity": 0.8218982202392747, "present": true, "vortex_level_rise_fraction": 0.19144605451900198 }, "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": 26690911, "trajectory": { "approach_pattern": "lean", "approach_sway_m": -0.011078649308134526, "depart_pattern": "straight", "depart_sway_m": -0.006834932005984136, "handling_noise_amplitude_m": 0.007444394433996373, "handling_noise_frequency_hz": 1.886305576796464, "handling_noise_phase_xyz_rad": [ 5.417039599325906, 5.299692742325334, 6.094625539006397 ], "lift_height_m": 0.08991795593733524, "orientation_noise_deg": 5.343743544075853, "outbound_curve_bias": -0.35029150896882655, "outbound_pattern": "loop", "phase_boundaries_s": { "final_hold": [ 14.764282864598785, 15.465723747224956 ], "initial_hold": [ 0.0, 0.7947811928287563 ], "lift_from_rack": [ 0.7947811928287563, 2.5668066839366817 ], "lower_to_rack": [ 13.895493470269379, 14.764282864598785 ], "lower_to_vortex": [ 5.856186921995813, 6.953354053622005 ], "raise_from_vortex": [ 10.086194853844546, 11.202160044236955 ], "transfer_to_rack": [ 11.202160044236955, 13.895493470269379 ], "transfer_to_vortex": [ 2.5668066839366817, 5.856186921995813 ], "vortex": [ 6.953354053622005, 10.086194853844546 ] }, "pick_line_azimuth_deg": 36.853698611905315, "pick_line_tilt_deg": 8.412058724517333, "pick_pattern": "lean", "pick_sway_m": -0.004897759129949494, "put_pattern": "straight", "put_sway_m": 0.005320121778447555, "rack_put_height_m": 0.18191135277721024, "return_bend_scale": 1.0089364100164888, "return_curve_bias": 0.23821474890317063, "return_pattern": "double_s", "return_side": 1.0, "return_vertical_arc_scale": 0.5412547372482585, "transfer_bend_m": 0.1984607648131339, "transfer_side": 1.0, "transport_tilt_deg": 1.3196227040982473, "vertical_arc_m": 0.1155080669502613, "vortex_apparent_frequency_hz": 6.130625157970016, "vortex_approach_height_m": 0.35779983791934217, "vortex_depart_height_m": 0.2919729480563596, "vortex_frequency_hz": 36.130625157970016, "vortex_phase_rad": 2.133013076022735, "vortex_radius_m": 0.00037830077230812764, "vortex_tilt_deg": 0.39243488662973114 } }, "render_fps": 30, "resolution": [ 1920, 1200 ], "return_slot_offset_xy": [ 0.025, 0.0 ], "scene_id": "wrong_rack/scene_000043", "schema_version": 15, "seed": 26690911, "shared_state_file": "shared_state.npz", "shared_state_sha256": "01ad9f73b2de80839f5ea166521abe1065d71e1382afd29e90078ed447145cd4", "simultaneous_camera_count": 3, "source_tube_has_cap": true, "start_slot_offset_xy": [ 0.075, 0.0 ], "subtype_event": { "category": "wrong_rack", "event_phase": "lower_to_rack", "event_time_s": 14.488748862572594, "is_failure": true, "randomized_parameters": { "hole_relation": "too_small", "insertion_depth_m": 0.0, "insertion_succeeds": false, "placement_outcome": "physx_drop_pending", "position": [ -0.45287616940876113, -0.33781827099212025, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": -90.13070226415832, "release_lateral_offset_m": 0.018291129275942578, "release_phase_fraction": 0.6828529401663931, "release_tilt_deg": 34.262971444544526, "release_time_s": 14.488748862572594, "slot_offset_xy": [ 0.0, 0.0 ], "tube_target_position": [ -0.45287616940876113, -0.33781827099212025, 0.8500000000000001 ], "yaw_deg": 63.27775085622483 }, "realized_outcome": { "fall_distance_m": 0.07493832027791236, "falling_under_gravity_at_episode_end": false, "final_angular_speed_deg_s": 719.2109985351562, "final_linear_speed_mps": 0.1474447250366211, "final_linear_velocity_mps": [ -0.14509324729442596, -0.00546363415196538, 0.02565234713256359 ], "final_position_m": [ -0.5498854517936707, -0.3472122550010681, 0.8087921738624573 ], "final_protected_visual_minimum_z_m": 0.7902543019351603, "final_state_valid": true, "final_surface": "table", "final_tilt_from_upright_deg": 90.09030998901035, "first_impact_body": "wrong_rack", "first_impact_linear_speed_mps": 0.6536883115768433, "first_impact_position_m": [ -0.45780542492866516, -0.3696957230567932, 0.8685381412506104 ], "first_impact_time_s": 14.7, "hole_relation": "too_small", "inside_wrong_rack_footprint": false, "minimum_root_z_m": 0.8087921738624573, "observed_outcome": "fell_to_table", "overlaps_wrong_rack_footprint": false, "planned_outcome": "physx_drop_pending", "planned_release_azimuth_deg": -90.13070226415832, "planned_release_lateral_offset_m": 0.018291129275942578, "planned_release_tilt_deg": 34.262971444544526, "post_release_scripted_control": false, "release_angular_velocity_rad_s": [ 0.0, 0.0, 0.0 ], "release_height_above_rack_top_m": 0.03373049414036955, "release_linear_velocity_mps": [ 0.0, 0.0, 0.0 ], "release_mode": "physx_gravity_from_rest", "release_phase": "lower_to_rack", "release_phase_fraction": 0.6828529401663931, "release_position_m": [ -0.45273143879384226, -0.3375583960232299, 0.8837304941403696 ], "release_time_s": 14.488748862572594, "support_clearance_m": 0.00025430193516029487, "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": [ 0.36, 0.42, 0.48 ], "task": "vortexing", "trajectory": { "approach_pattern": "lean", "approach_sway_m": -0.011078649308134526, "depart_pattern": "straight", "depart_sway_m": -0.006834932005984136, "handling_noise_amplitude_m": 0.007444394433996373, "handling_noise_frequency_hz": 1.886305576796464, "handling_noise_phase_xyz_rad": [ 5.417039599325906, 5.299692742325334, 6.094625539006397 ], "lift_height_m": 0.08991795593733524, "orientation_noise_deg": 5.343743544075853, "outbound_curve_bias": -0.35029150896882655, "outbound_pattern": "loop", "phase_boundaries_s": { "final_hold": [ 14.764282864598785, 15.465723747224956 ], "initial_hold": [ 0.0, 0.7947811928287563 ], "lift_from_rack": [ 0.7947811928287563, 2.5668066839366817 ], "lower_to_rack": [ 13.895493470269379, 14.764282864598785 ], "lower_to_vortex": [ 5.856186921995813, 6.953354053622005 ], "raise_from_vortex": [ 10.086194853844546, 11.202160044236955 ], "transfer_to_rack": [ 11.202160044236955, 13.895493470269379 ], "transfer_to_vortex": [ 2.5668066839366817, 5.856186921995813 ], "vortex": [ 6.953354053622005, 10.086194853844546 ] }, "pick_line_azimuth_deg": 36.853698611905315, "pick_line_tilt_deg": 8.412058724517333, "pick_pattern": "lean", "pick_sway_m": -0.004897759129949494, "put_pattern": "straight", "put_sway_m": 0.005320121778447555, "rack_put_height_m": 0.18191135277721024, "return_bend_scale": 1.0089364100164888, "return_curve_bias": 0.23821474890317063, "return_pattern": "double_s", "return_side": 1.0, "return_vertical_arc_scale": 0.5412547372482585, "transfer_bend_m": 0.1984607648131339, "transfer_side": 1.0, "transport_tilt_deg": 1.3196227040982473, "vertical_arc_m": 0.1155080669502613, "vortex_apparent_frequency_hz": 6.130625157970016, "vortex_approach_height_m": 0.35779983791934217, "vortex_depart_height_m": 0.2919729480563596, "vortex_frequency_hz": 36.130625157970016, "vortex_phase_rad": 2.133013076022735, "vortex_radius_m": 0.00037830077230812764, "vortex_tilt_deg": 0.39243488662973114 }, "trajectory_validation": { "duration_s": 15.465723747224956, "final_position_error_m": 0.0, "finite": true, "max_boundary_angular_jump_deg": 0.0, "max_boundary_position_jump_m": 2.1210781103223385e-15, "max_quaternion_norm_error": 1.1102230246251565e-16, "max_sample_step_m": 0.004261338410440642, "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": 0.5799999999999998, "release_time_s": 4.474647222010978, "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": [ -0.07065952928934384, -0.23832013001243801, 0.8529 ], "tube_start_position": [ -0.02083025449513015, -0.2341917679301178, 0.8529 ], "video": "front.mp4", "video_sha256": "3081a7af116d62a2fb77efae1a5badd354a7007162e36c36211423d87fa32e3d", "video_validation": { "actual_frame_count": 464, "content_valid": true, "decode_error": null, "expected_frame_count": 464, "frame_count_valid": true, "full_decode_frame_count": 464, "max_changed_pixel_fraction": 0.012627604166666667, "mean_luminance": 142.72543334960938, "motion_valid": true, "resolution_valid": true, "sampled_frame_indices": [ 0, 77, 154, 232, 309, 386, 463 ], "spatial_standard_deviation": 31.19954490661621, "valid": true }, "view_index": 1, "view_order": [ "left", "front", "right" ], "vortex_contact_position": [ 0.5265638224235955, 0.17047160060985553, 0.9790000000000001 ], "vortex_id": "VTX-002", "vortex_position": [ 0.5363225467385209, 0.1437345981648303, 0.79 ], "vortex_yaw_deg": 0.9800072795902821, "wrong_orientation": { "azimuth_deg": 9.487694431108338, "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": [ -0.45287616940876113, -0.33781827099212025, 0.79 ], "rack_id": "TR-003", "release_azimuth_deg": -90.13070226415832, "release_lateral_offset_m": 0.018291129275942578, "release_phase_fraction": 0.6828529401663931, "release_tilt_deg": 34.262971444544526, "release_time_s": 14.488748862572594, "slot_offset_xy": [ 0.0, 0.0 ], "tube_target_position": [ -0.45287616940876113, -0.33781827099212025, 0.8500000000000001 ], "yaw_deg": 63.27775085622483 }, "wrong_rack_physics": { "fall_distance_m": 0.07493832027791236, "falling_under_gravity_at_episode_end": false, "final_angular_speed_deg_s": 719.2109985351562, "final_linear_speed_mps": 0.1474447250366211, "final_linear_velocity_mps": [ -0.14509324729442596, -0.00546363415196538, 0.02565234713256359 ], "final_position_m": [ -0.5498854517936707, -0.3472122550010681, 0.8087921738624573 ], "final_protected_visual_minimum_z_m": 0.7902543019351603, "final_state_valid": true, "final_surface": "table", "final_tilt_from_upright_deg": 90.09030998901035, "first_impact_body": "wrong_rack", "first_impact_linear_speed_mps": 0.6536883115768433, "first_impact_position_m": [ -0.45780542492866516, -0.3696957230567932, 0.8685381412506104 ], "first_impact_time_s": 14.7, "hole_relation": "too_small", "inside_wrong_rack_footprint": false, "minimum_root_z_m": 0.8087921738624573, "observed_outcome": "fell_to_table", "overlaps_wrong_rack_footprint": false, "planned_outcome": "physx_drop_pending", "planned_release_azimuth_deg": -90.13070226415832, "planned_release_lateral_offset_m": 0.018291129275942578, "planned_release_tilt_deg": 34.262971444544526, "post_release_scripted_control": false, "release_angular_velocity_rad_s": [ 0.0, 0.0, 0.0 ], "release_height_above_rack_top_m": 0.03373049414036955, "release_linear_velocity_mps": [ 0.0, 0.0, 0.0 ], "release_mode": "physx_gravity_from_rest", "release_phase": "lower_to_rack", "release_phase_fraction": 0.6828529401663931, "release_position_m": [ -0.45273143879384226, -0.3375583960232299, 0.8837304941403696 ], "release_time_s": 14.488748862572594, "support_clearance_m": 0.00025430193516029487, "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" } }