{
  "task_id": "Mjlab-GS-TubeSort-UR5",
  "num_envs": 2,
  "settle_steps": 100,
  "observation_shapes": {
    "actor": [
      2,
      16
    ],
    "critic": [
      2,
      124
    ],
    "camera": [
      2,
      3,
      200,
      320
    ]
  },
  "layout": {
    "grasp_tcp_z_above_table_m": 0.08380000000000001,
    "transport_tcp_z_above_table_m": 0.191,
    "rest_centre_z_above_table_m": 0.044,
    "basket_rim_z_m": {
      "left": 0.036000000000000004,
      "centre": 0.036000000000000004,
      "right": 0.036000000000000004
    },
    "basket_centre_xy_m": {
      "left": [
        -0.205,
        -0.156
      ],
      "centre": [
        0.0,
        -0.156
      ],
      "right": [
        0.205,
        -0.156
      ]
    },
    "basket_interior_m": {
      "left": [
        0.0745,
        0.047
      ],
      "centre": [
        0.0745,
        0.047
      ],
      "right": [
        0.0745,
        0.047
      ]
    }
  },
  "placement": {
    "grid_cells": 10,
    "grid_pitch_m": 0.0305,
    "grid_jitter_m": 0.002,
    "wall_clearance_m": 0.0015,
    "worst_case_pitch_m": 0.0265,
    "measured_min_spawn_separation_m": 0.0013402937911450863,
    "tube_count_min": 4,
    "tube_count_max": 4,
    "tube_count_mean": 4.0,
    "red_fraction": 0.5
  },
  "settled": {
    "tubes": 8,
    "upright_cos_min": -0.10252808779478073,
    "upright_cos_mean": -0.015458168461918831,
    "standing_fraction": 0.0,
    "in_centre_basket": 8,
    "outside_any_basket": 0,
    "max_tube_speed_m_s": 5.029857493354939e-05
  },
  "physics": {
    "max_penetration_m": 0.0,
    "max_joint_speed_rad_s": 2.2704811271978542e-05,
    "ever_bad_contact": 0.0,
    "nonfinite": 0.0,
    "terminated": 0,
    "truncated": 0
  },
  "wrist_strip": "reports/tubesort_assets_20260922/wrist_reset.png"
}