{
  "background": {
    "accent_color_rgb": [
      0.8537679547165351,
      0.5683045522355615,
      0.15188728525746964
    ],
    "cabinet_color_rgb": [
      0.5082597562415537,
      0.5892331633211539,
      0.5967548832141586
    ],
    "floor_color_rgb": [
      0.2407136861020899,
      0.31575224416206155,
      0.24430803104728643
    ],
    "screen_color_rgb": [
      0.31776931764302463,
      0.7335389570792159,
      0.6602982544862283
    ],
    "style": "wet_lab",
    "wall_color_rgb": [
      0.6640176081183464,
      0.797478105211265,
      0.7276687748989551
    ]
  },
  "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-007",
      "pitch_deg": 0.0,
      "position": [
        -0.4168647396451704,
        1.2503316925397485,
        0.83
      ],
      "roll_deg": 0.0,
      "surface": "rear_bench",
      "uniform_scale": 0.9418501331125548,
      "yaw_deg": 66.24395342344019
    },
    {
      "asset_id": "RES-001",
      "pitch_deg": 0.0,
      "position": [
        -0.07833409692092352,
        1.06891526584165,
        0.83
      ],
      "roll_deg": 0.0,
      "surface": "rear_bench",
      "uniform_scale": 1.0727735223643287,
      "yaw_deg": -24.165316989855683
    },
    {
      "asset_id": "TIP-006",
      "pitch_deg": 0.0,
      "position": [
        -0.5490007688286969,
        -0.24938757042230086,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 1.0054651566628305,
      "yaw_deg": -43.20019533365112
    },
    {
      "asset_id": "TIP-010",
      "pitch_deg": 0.0,
      "position": [
        0.2984477487509952,
        -0.10976602958289039,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.9360046036223202,
      "yaw_deg": -36.114916982847234
    },
    {
      "asset_id": "TIP-004",
      "pitch_deg": 0.0,
      "position": [
        -0.28901239856337524,
        0.19442616422398196,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 0.7819824597042269,
      "yaw_deg": -136.7474109718203
    },
    {
      "asset_id": "PIP-008",
      "pitch_deg": -91.94713718120688,
      "position": [
        0.6781784282211715,
        0.3598734227213361,
        0.8007825051219771
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 1.1176636002149012,
      "yaw_deg": 39.481301073316644
    },
    {
      "asset_id": "RES-009",
      "pitch_deg": 0.0,
      "position": [
        -0.669171555011742,
        0.13204427162181132,
        0.79
      ],
      "roll_deg": 0.0,
      "surface": "main_table",
      "uniform_scale": 1.0534763525613573,
      "yaw_deg": -137.57611811138597
    }
  ],
  "duration_s": 16.036616089102658,
  "episode_id": 44,
  "error_type": "wrong_rack",
  "frame_count": 481,
  "generation_success": true,
  "light_color_rgb": [
    0.9848627788906308,
    0.92,
    0.92
  ],
  "light_intensity": 1773.7740687612961,
  "liquid": {
    "color_rgb": [
      0.36604977554778045,
      0.2201701422271529,
      0.05582077974932384
    ],
    "fill_fraction": 0.47116603231833304,
    "opacity": 0.9105108312467016,
    "vortex_level_rise_fraction": 0.18595817149665037
  },
  "metadata_schema_version": 2,
  "outcome": "failure",
  "physics_scene_count": 1,
  "rack_flip": {
    "angular_speed_rad_s": 1.420590302959573,
    "direction_azimuth_deg": -77.11930921148804,
    "lateral_speed_mps": 0.04137494529699678,
    "phase": "lower_to_rack",
    "phase_fraction": 0.756652446428431,
    "release_clearance_m": 0.008396138669178698,
    "release_tilt_deg": 120.48175775429357,
    "stage": "insertion",
    "tip_duration_s": 0.4133634659434098,
    "trigger_time_s": 14.563980456451693,
    "tube_detach_fraction": 0.541483919194947,
    "tube_engagement_fraction": 0.31029768605455793,
    "tube_on_rack": true,
    "upward_speed_mps": 0.048687843079551194
  },
  "rack_id": "TR-002",
  "rack_position": [
    0.5327211550626836,
    0.03472868723501554,
    0.79
  ],
  "rack_yaw_deg": -14.008172577292505,
  "randomization_results": {
    "assets": {
      "rack_id": "TR-002",
      "source_tube_has_cap": true,
      "tube_cap_present": true,
      "tube_id": "CT-005",
      "vortex_id": "VTX-001"
    },
    "distractors": {
      "count": 7,
      "placements": [
        {
          "asset_id": "TIP-007",
          "pitch_deg": 0.0,
          "position": [
            -0.4168647396451704,
            1.2503316925397485,
            0.83
          ],
          "roll_deg": 0.0,
          "surface": "rear_bench",
          "uniform_scale": 0.9418501331125548,
          "yaw_deg": 66.24395342344019
        },
        {
          "asset_id": "RES-001",
          "pitch_deg": 0.0,
          "position": [
            -0.07833409692092352,
            1.06891526584165,
            0.83
          ],
          "roll_deg": 0.0,
          "surface": "rear_bench",
          "uniform_scale": 1.0727735223643287,
          "yaw_deg": -24.165316989855683
        },
        {
          "asset_id": "TIP-006",
          "pitch_deg": 0.0,
          "position": [
            -0.5490007688286969,
            -0.24938757042230086,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 1.0054651566628305,
          "yaw_deg": -43.20019533365112
        },
        {
          "asset_id": "TIP-010",
          "pitch_deg": 0.0,
          "position": [
            0.2984477487509952,
            -0.10976602958289039,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.9360046036223202,
          "yaw_deg": -36.114916982847234
        },
        {
          "asset_id": "TIP-004",
          "pitch_deg": 0.0,
          "position": [
            -0.28901239856337524,
            0.19442616422398196,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 0.7819824597042269,
          "yaw_deg": -136.7474109718203
        },
        {
          "asset_id": "PIP-008",
          "pitch_deg": -91.94713718120688,
          "position": [
            0.6781784282211715,
            0.3598734227213361,
            0.8007825051219771
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 1.1176636002149012,
          "yaw_deg": 39.481301073316644
        },
        {
          "asset_id": "RES-009",
          "pitch_deg": 0.0,
          "position": [
            -0.669171555011742,
            0.13204427162181132,
            0.79
          ],
          "roll_deg": 0.0,
          "surface": "main_table",
          "uniform_scale": 1.0534763525613573,
          "yaw_deg": -137.57611811138597
        }
      ]
    },
    "environment": {
      "background": {
        "accent_color_rgb": [
          0.8537679547165351,
          0.5683045522355615,
          0.15188728525746964
        ],
        "cabinet_color_rgb": [
          0.5082597562415537,
          0.5892331633211539,
          0.5967548832141586
        ],
        "floor_color_rgb": [
          0.2407136861020899,
          0.31575224416206155,
          0.24430803104728643
        ],
        "screen_color_rgb": [
          0.31776931764302463,
          0.7335389570792159,
          0.6602982544862283
        ],
        "style": "wet_lab",
        "wall_color_rgb": [
          0.6640176081183464,
          0.797478105211265,
          0.7276687748989551
        ]
      },
      "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": [
        0.9848627788906308,
        0.92,
        0.92
      ],
      "light_intensity": 1773.7740687612961,
      "table_color_rgb": [
        0.16,
        0.42,
        0.46
      ]
    },
    "layout": {
      "rack_position_m": [
        0.5327211550626836,
        0.03472868723501554,
        0.79
      ],
      "rack_to_vortex_bearing_deg": -161.19366405897594,
      "rack_to_vortex_distance_m": 0.531448718149554,
      "rack_yaw_deg": -14.008172577292505,
      "return_slot_offset_xy_m": [
        0.034,
        0.068
      ],
      "returns_to_different_slot": true,
      "start_slot_offset_xy_m": [
        0.068,
        0.0
      ],
      "tube_return_position_m": [
        0.5821701362000942,
        0.09247639943621025,
        0.8152000000000001
      ],
      "tube_start_position_m": [
        0.5986989172786036,
        0.018268587205564953,
        0.8152000000000001
      ],
      "vortex_contact_position_m": [
        0.06365030403887653,
        -0.09159941996777322,
        1.0070000000000001
      ],
      "vortex_position_m": [
        0.02964456161354123,
        -0.13659463618129697,
        0.79
      ],
      "vortex_yaw_deg": -37.080657407603894
    },
    "liquid": {
      "color_rgb": [
        0.36604977554778045,
        0.2201701422271529,
        0.05582077974932384
      ],
      "effective_peak_level_fraction": 0.6571242038149834,
      "effective_vortex_level_rise_fraction": 0.18595817149665037,
      "fill_fraction": 0.47116603231833304,
      "opacity": 0.9105108312467016,
      "present": true,
      "vortex_level_rise_fraction": 0.18595817149665037
    },
    "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": 26700910,
    "trajectory": {
      "approach_pattern": "lean",
      "approach_sway_m": 0.007694281352618905,
      "depart_pattern": "hook",
      "depart_sway_m": 0.009609773997426801,
      "handling_noise_amplitude_m": 0.002745845374417603,
      "handling_noise_frequency_hz": 2.5159434800360265,
      "handling_noise_phase_xyz_rad": [
        5.539652140560694,
        4.105814262866979,
        3.274339347400556
      ],
      "lift_height_m": 0.08667060246006478,
      "orientation_noise_deg": 1.7912555341740364,
      "outbound_curve_bias": -0.41667303452541943,
      "outbound_pattern": "direct",
      "phase_boundaries_s": {
        "final_hold": [
          14.856892364999926,
          16.036616089102658
        ],
        "initial_hold": [
          0.0,
          0.7700012230708995
        ],
        "lift_from_rack": [
          0.7700012230708995,
          3.1286088177861924
        ],
        "lower_to_rack": [
          13.653215137720602,
          14.856892364999926
        ],
        "lower_to_vortex": [
          5.259195926681643,
          5.985926804349814
        ],
        "raise_from_vortex": [
          10.182427798732697,
          11.132189958053814
        ],
        "transfer_to_rack": [
          11.132189958053814,
          13.653215137720602
        ],
        "transfer_to_vortex": [
          3.1286088177861924,
          5.259195926681643
        ],
        "vortex": [
          5.985926804349814,
          10.182427798732697
        ]
      },
      "pick_line_azimuth_deg": 122.82093182938593,
      "pick_line_tilt_deg": 3.575442417075594,
      "pick_pattern": "s_sway",
      "pick_sway_m": 0.003534705957925304,
      "put_pattern": "lean",
      "put_sway_m": 0.005106802925198968,
      "rack_put_height_m": 0.2484019753945479,
      "return_bend_scale": 1.0142505452339925,
      "return_curve_bias": 0.3628081892815074,
      "return_pattern": "late_swoop",
      "return_side": -1.0,
      "return_vertical_arc_scale": 1.5089052374416996,
      "transfer_bend_m": 0.18496472121854257,
      "transfer_side": -1.0,
      "transport_tilt_deg": 5.802097582748266,
      "vertical_arc_m": 0.32470882015088315,
      "vortex_apparent_frequency_hz": 5.830153909985391,
      "vortex_approach_height_m": 0.13074439486854478,
      "vortex_depart_height_m": 0.15933222742691344,
      "vortex_frequency_hz": 24.16984609001461,
      "vortex_phase_rad": 2.837257564682869,
      "vortex_radius_m": 0.0005001700498555182,
      "vortex_tilt_deg": 0.4816156398936784
    }
  },
  "render_fps": 30,
  "resolution": [
    1920,
    1200
  ],
  "return_slot_offset_xy": [
    0.034,
    0.068
  ],
  "scene_id": "wrong_rack/scene_000044",
  "schema_version": 15,
  "seed": 26700910,
  "shared_state_file": "shared_state.npz",
  "shared_state_sha256": "33fdcbb2682ec223ece934969c42f6253120174f6f6e416b3cb6f62ff7222435",
  "simultaneous_camera_count": 3,
  "source_tube_has_cap": true,
  "start_slot_offset_xy": [
    0.068,
    0.0
  ],
  "subtype_event": {
    "category": "wrong_rack",
    "event_phase": "lower_to_rack",
    "event_time_s": 14.519696790524753,
    "is_failure": true,
    "randomized_parameters": {
      "hole_relation": "too_small",
      "insertion_depth_m": 0.0,
      "insertion_succeeds": false,
      "placement_outcome": "physx_drop_pending",
      "position": [
        0.33916449781522784,
        -0.3594198122360079,
        0.79
      ],
      "rack_id": "TR-003",
      "release_azimuth_deg": 81.7003616952768,
      "release_lateral_offset_m": 0.01863374537150228,
      "release_phase_fraction": 0.7198621301182736,
      "release_tilt_deg": 27.794433570326866,
      "release_time_s": 14.519696790524753,
      "slot_offset_xy": [
        0.04,
        0.0
      ],
      "tube_target_position": [
        0.3682824898263852,
        -0.3868450294865271,
        0.8500000000000001
      ],
      "yaw_deg": -43.285207183703434
    },
    "realized_outcome": {
      "fall_distance_m": 0.025036148152036697,
      "falling_under_gravity_at_episode_end": false,
      "final_angular_speed_deg_s": 5.30307674407959,
      "final_linear_speed_mps": 0.003156638005748391,
      "final_linear_velocity_mps": [
        -0.0030836816877126694,
        -0.00011735327279893681,
        -0.0006644532550126314
      ],
      "final_position_m": [
        0.3714808523654938,
        -0.340478777885437,
        0.8637050986289978
      ],
      "final_protected_visual_minimum_z_m": 0.7902496726207104,
      "final_state_valid": true,
      "final_surface": "table",
      "final_tilt_from_upright_deg": 112.2041125154524,
      "first_impact_body": "wrong_rack",
      "first_impact_linear_speed_mps": 0.8111191391944885,
      "first_impact_position_m": [
        0.3768548369407654,
        -0.3531114161014557,
        0.8700383305549622
      ],
      "first_impact_time_s": 14.8,
      "hole_relation": "too_small",
      "inside_wrong_rack_footprint": true,
      "minimum_root_z_m": 0.8592268824577332,
      "observed_outcome": "toppled_on_wrong_rack",
      "overlaps_wrong_rack_footprint": true,
      "planned_outcome": "physx_drop_pending",
      "planned_release_azimuth_deg": 81.7003616952768,
      "planned_release_lateral_offset_m": 0.01863374537150228,
      "planned_release_tilt_deg": 27.794433570326866,
      "post_release_scripted_control": false,
      "release_angular_velocity_rad_s": [
        0.0,
        0.0,
        0.0
      ],
      "release_height_above_rack_top_m": 0.03426303060976976,
      "release_linear_velocity_mps": [
        0.0,
        0.0,
        0.0
      ],
      "release_mode": "physx_gravity_from_rest",
      "release_phase": "lower_to_rack",
      "release_phase_fraction": 0.7198621301182736,
      "release_position_m": [
        0.36872724035852755,
        -0.38895947663874025,
        0.8842630306097699
      ],
      "release_time_s": 14.519696790524753,
      "support_clearance_m": 0.0002496726207104061,
      "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": [
    0.16,
    0.42,
    0.46
  ],
  "task": "vortexing",
  "trajectory": {
    "approach_pattern": "lean",
    "approach_sway_m": 0.007694281352618905,
    "depart_pattern": "hook",
    "depart_sway_m": 0.009609773997426801,
    "handling_noise_amplitude_m": 0.002745845374417603,
    "handling_noise_frequency_hz": 2.5159434800360265,
    "handling_noise_phase_xyz_rad": [
      5.539652140560694,
      4.105814262866979,
      3.274339347400556
    ],
    "lift_height_m": 0.08667060246006478,
    "orientation_noise_deg": 1.7912555341740364,
    "outbound_curve_bias": -0.41667303452541943,
    "outbound_pattern": "direct",
    "phase_boundaries_s": {
      "final_hold": [
        14.856892364999926,
        16.036616089102658
      ],
      "initial_hold": [
        0.0,
        0.7700012230708995
      ],
      "lift_from_rack": [
        0.7700012230708995,
        3.1286088177861924
      ],
      "lower_to_rack": [
        13.653215137720602,
        14.856892364999926
      ],
      "lower_to_vortex": [
        5.259195926681643,
        5.985926804349814
      ],
      "raise_from_vortex": [
        10.182427798732697,
        11.132189958053814
      ],
      "transfer_to_rack": [
        11.132189958053814,
        13.653215137720602
      ],
      "transfer_to_vortex": [
        3.1286088177861924,
        5.259195926681643
      ],
      "vortex": [
        5.985926804349814,
        10.182427798732697
      ]
    },
    "pick_line_azimuth_deg": 122.82093182938593,
    "pick_line_tilt_deg": 3.575442417075594,
    "pick_pattern": "s_sway",
    "pick_sway_m": 0.003534705957925304,
    "put_pattern": "lean",
    "put_sway_m": 0.005106802925198968,
    "rack_put_height_m": 0.2484019753945479,
    "return_bend_scale": 1.0142505452339925,
    "return_curve_bias": 0.3628081892815074,
    "return_pattern": "late_swoop",
    "return_side": -1.0,
    "return_vertical_arc_scale": 1.5089052374416996,
    "transfer_bend_m": 0.18496472121854257,
    "transfer_side": -1.0,
    "transport_tilt_deg": 5.802097582748266,
    "vertical_arc_m": 0.32470882015088315,
    "vortex_apparent_frequency_hz": 5.830153909985391,
    "vortex_approach_height_m": 0.13074439486854478,
    "vortex_depart_height_m": 0.15933222742691344,
    "vortex_frequency_hz": 24.16984609001461,
    "vortex_phase_rad": 2.837257564682869,
    "vortex_radius_m": 0.0005001700498555182,
    "vortex_tilt_deg": 0.4816156398936784
  },
  "trajectory_validation": {
    "duration_s": 16.036616089102658,
    "final_position_error_m": 0.0,
    "finite": true,
    "max_boundary_angular_jump_deg": 0.0,
    "max_boundary_position_jump_m": 2.0045598609095038e-15,
    "max_quaternion_norm_error": 1.1102230246251565e-16,
    "max_sample_step_m": 0.0032495162304335004,
    "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": 0.29011695808074345,
    "release_time_s": 3.7467282687449863,
    "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": [
    0.5821701362000942,
    0.09247639943621025,
    0.8152000000000001
  ],
  "tube_start_position": [
    0.5986989172786036,
    0.018268587205564953,
    0.8152000000000001
  ],
  "video": "front.mp4",
  "video_sha256": "b56076ab8bdc330141c4d4b8e87e391613d0a046c73f6bc67299079f5bde5f41",
  "video_validation": {
    "actual_frame_count": 481,
    "content_valid": true,
    "decode_error": null,
    "expected_frame_count": 481,
    "frame_count_valid": true,
    "full_decode_frame_count": 481,
    "max_changed_pixel_fraction": 0.014864583333333334,
    "mean_luminance": 131.61444091796875,
    "motion_valid": true,
    "resolution_valid": true,
    "sampled_frame_indices": [
      0,
      80,
      160,
      240,
      320,
      400,
      480
    ],
    "spatial_standard_deviation": 35.180763244628906,
    "valid": true
  },
  "view_index": 1,
  "view_order": [
    "left",
    "front",
    "right"
  ],
  "vortex_contact_position": [
    0.06365030403887653,
    -0.09159941996777322,
    1.0070000000000001
  ],
  "vortex_id": "VTX-001",
  "vortex_position": [
    0.02964456161354123,
    -0.13659463618129697,
    0.79
  ],
  "vortex_yaw_deg": -37.080657407603894,
  "wrong_orientation": {
    "azimuth_deg": 55.935388830746376,
    "mode": "tilted",
    "tilt_deg_from_z": 51.0556794756437
  },
  "wrong_rack": {
    "hole_relation": "too_small",
    "insertion_depth_m": 0.0,
    "insertion_succeeds": false,
    "placement_outcome": "physx_drop_pending",
    "position": [
      0.33916449781522784,
      -0.3594198122360079,
      0.79
    ],
    "rack_id": "TR-003",
    "release_azimuth_deg": 81.7003616952768,
    "release_lateral_offset_m": 0.01863374537150228,
    "release_phase_fraction": 0.7198621301182736,
    "release_tilt_deg": 27.794433570326866,
    "release_time_s": 14.519696790524753,
    "slot_offset_xy": [
      0.04,
      0.0
    ],
    "tube_target_position": [
      0.3682824898263852,
      -0.3868450294865271,
      0.8500000000000001
    ],
    "yaw_deg": -43.285207183703434
  },
  "wrong_rack_physics": {
    "fall_distance_m": 0.025036148152036697,
    "falling_under_gravity_at_episode_end": false,
    "final_angular_speed_deg_s": 5.30307674407959,
    "final_linear_speed_mps": 0.003156638005748391,
    "final_linear_velocity_mps": [
      -0.0030836816877126694,
      -0.00011735327279893681,
      -0.0006644532550126314
    ],
    "final_position_m": [
      0.3714808523654938,
      -0.340478777885437,
      0.8637050986289978
    ],
    "final_protected_visual_minimum_z_m": 0.7902496726207104,
    "final_state_valid": true,
    "final_surface": "table",
    "final_tilt_from_upright_deg": 112.2041125154524,
    "first_impact_body": "wrong_rack",
    "first_impact_linear_speed_mps": 0.8111191391944885,
    "first_impact_position_m": [
      0.3768548369407654,
      -0.3531114161014557,
      0.8700383305549622
    ],
    "first_impact_time_s": 14.8,
    "hole_relation": "too_small",
    "inside_wrong_rack_footprint": true,
    "minimum_root_z_m": 0.8592268824577332,
    "observed_outcome": "toppled_on_wrong_rack",
    "overlaps_wrong_rack_footprint": true,
    "planned_outcome": "physx_drop_pending",
    "planned_release_azimuth_deg": 81.7003616952768,
    "planned_release_lateral_offset_m": 0.01863374537150228,
    "planned_release_tilt_deg": 27.794433570326866,
    "post_release_scripted_control": false,
    "release_angular_velocity_rad_s": [
      0.0,
      0.0,
      0.0
    ],
    "release_height_above_rack_top_m": 0.03426303060976976,
    "release_linear_velocity_mps": [
      0.0,
      0.0,
      0.0
    ],
    "release_mode": "physx_gravity_from_rest",
    "release_phase": "lower_to_rack",
    "release_phase_fraction": 0.7198621301182736,
    "release_position_m": [
      0.36872724035852755,
      -0.38895947663874025,
      0.8842630306097699
    ],
    "release_time_s": 14.519696790524753,
    "support_clearance_m": 0.0002496726207104061,
    "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"
  }
}