{
  "schema_version": "1.0.0",
  "episode_id": "E-SIM-OPENARM-TABLE-001",
  "run_id": "RUN-OPENARM-ORCA-TABLE-001",
  "scene_id": "openarm_orca_supported_warehouse_proxy_v1",
  "backend": "mujoco",
  "backend_version": "3.13.0",
  "source_type": "simulated",
  "duration_s": 11.998,
  "message_count": 1205,
  "mcap_profile": "metaego.simulation.v1",
  "topics": {
    "/metaego/simulation/state": 301,
    "/metaego/simulation/contacts": 301,
    "/metaego/simulation/tactile": 301,
    "/metaego/simulation/phase": 301,
    "/metaego/simulation/result": 1
  },
  "acceptance": {
    "decision": "PASS",
    "object_lift_height_m": 0.07403462672196065,
    "object_return_error_m": 0.004348577317423796,
    "initial_hand_contact_steps": 0,
    "grasp_contact_steps": 1260,
    "lift_contact_steps": 1260,
    "lift_detached_steps": 1130,
    "final_table_contact": true,
    "peak_normal_force_n": 0.5988079863111399
  },
  "artifacts": [
    {
      "path": "episode.mcap",
      "media_type": "application/octet-stream",
      "size_bytes": 198190,
      "sha256": "ccc4467f9af3b330fd3d19bd803e14831f8a947bcfd95d518de41ba8fd2c860b"
    },
    {
      "path": "replay.mp4",
      "media_type": "video/mp4",
      "size_bytes": 102529,
      "sha256": "180ab3a7a08487eea623e91c21942e39b8128c18e525d90f7f946cb93a82cde6"
    },
    {
      "path": "result.json",
      "media_type": "application/json",
      "size_bytes": 899704,
      "sha256": "6d11edb854925018d32e0947b38df67e7a208831c07fd5e2eb0c7f8b782a5c5e"
    }
  ],
  "sampling": {
    "physics_hz": 500,
    "mcap_state_hz": 25,
    "video_fps": 30
  },
  "provenance": {
    "official_armbench_episode": false,
    "armbench_compatible_proxy": true,
    "armbench_access": "request_required_not_staged",
    "object_geometry_source": "procedural_metaego_warehouse_proxy",
    "mount_calibrated": false
  },
  "limitations": [
    "This is an ARMBench-compatible procedural proxy, not an official ARMBench dataset episode.",
    "The object is a simple box proxy, not a benchmark product mesh.",
    "The MP4 is a fixed-camera MuJoCo render, not a live interactive simulator.",
    "The mount transform is model-specified and has not been physically calibrated."
  ]
}