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+{
+  "backend": "mujoco",
+  "backend_version": "3.16.0",
+  "scenario_id": "machine_tending",
+  "object_shape": "box",
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+    "success_rule": "observed fault, completed recovery release, final position error < 0.025 m, final speed < 0.08 m/s, symmetry-axis tilt <= 15 degrees, and physical object contact with the named target support",
+    "split_granularity": "complete_episode"
+  },
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+    "Recovery controller observes simulator object state (oracle).",
+    "Opaque procedural rigid shapes and geometric depth; no calibrated glass sensor simulation.",
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+    "noise_sigma_m": "severity * (0.0005 + 0.002 * depth_gt_m ** 2)",
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+    "source_seed": 20262124,
+    "physical_trajectory_modified": false,
+    "closed_loop_evaluated": false,
+    "limitations": [
+      "No calibration against any named RGB-D camera or optical material.",
+      "Target-conditioned dropout is a stress assumption, not a measured transparent-object response.",
+      "Corruptions are applied after physics; actions do not react to degraded observations.",
+      "Simulator object state/pose and clean geometric labels are privileged supervision, not deployable observations."
+    ]
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+    "name": "RGB-D 失效对照 · 同条件独立种子留出",
+    "coverage_split": "condition_holdout",
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+    "episodes": 1,
+    "split_strategy": "single_train",
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+    "fps": 20,
+    "width": 160,
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+    "seed": 20262124,
+    "camera_count": 1,
+    "failure_types": [
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+    "blender_samples": 16
+  }
+}
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