{
  "schema_version": "1.0.0",
  "episode_id": "E-SIM-OPENARM-001",
  "run_id": "RUN-OPENARM-ORCA-CUBE-001",
  "backend": "mujoco",
  "backend_version": "3.13.0",
  "source_type": "simulated",
  "duration_s": 7.998,
  "message_count": 805,
  "mcap_profile": "metaego.simulation.v1",
  "topics": {
    "/metaego/simulation/state": 201,
    "/metaego/simulation/contacts": 201,
    "/metaego/simulation/tactile": 201,
    "/metaego/simulation/phase": 201,
    "/metaego/simulation/result": 1
  },
  "artifacts": [
    {
      "path": "episode.mcap",
      "media_type": "application/octet-stream",
      "size_bytes": 241378,
      "sha256": "cc53b2a02d2ead06dc839fd117f13e774b5b363958200f0bff1d552fef7dee0e"
    },
    {
      "path": "replay.mp4",
      "media_type": "video/mp4",
      "size_bytes": 93657,
      "sha256": "90db1f724f23c6c0468cd0adaa6943b318fb9b953776aff7fe312a56629dc499"
    }
  ],
  "sampling": {
    "physics_hz": 500,
    "mcap_state_hz": 25,
    "video_fps": 30
  },
  "limitations": [
    "MCAP stores the canonical 25 Hz sampled result, not all 500 Hz physics ticks.",
    "The MP4 is a fixed-camera MuJoCo render and is not a live interactive simulator.",
    "This is an in-palm reference-cube cycle, not table pickup or ARMBench."
  ]
}