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+      "images": {
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+      },
+      "labels": {
+        "front": {
+          "depth_gt": "depth/front/000138.npy",
+          "depth_mm": "depth/front/000138.png",
+          "depth_preview": "depth_preview/front/000138.png",
+          "mask": "mask/front/000138.png",
+          "normal": "normal/front/000138.npy"
+        }
+      },
+      "recovery_stage": "release",
+      "contact_count": 4,
+      "obstacle_contact_count": 0,
+      "workcell_contact_count": 4,
+      "target_position_error_m": 0.00019235023154074292,
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+      "orientation_error_deg": 0.0,
+      "target_surface_contact": true,
+      "sensor_observations": {
+        "front": {
+          "depth_observed": "sensor_observations/front/depth/000138.npy",
+          "valid_mask": "sensor_observations/front/valid/000138.png",
+          "depth_preview": "sensor_observations/front/preview/000138.png",
+          "rgb": "rgb/front/000138.png",
+          "source_frame_index": 138,
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+          "outage": false
+        }
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+      "success": true,
+      "images": {
+        "front": "rgb/front/000139.png"
+      },
+      "labels": {
+        "front": {
+          "depth_gt": "depth/front/000139.npy",
+          "depth_mm": "depth/front/000139.png",
+          "depth_preview": "depth_preview/front/000139.png",
+          "mask": "mask/front/000139.png",
+          "normal": "normal/front/000139.npy"
+        }
+      },
+      "recovery_stage": "release",
+      "contact_count": 4,
+      "obstacle_contact_count": 0,
+      "workcell_contact_count": 4,
+      "target_position_error_m": 0.00019235023163310897,
+      "object_speed_m_s": 3.472809439336197e-11,
+      "orientation_error_deg": 0.0,
+      "target_surface_contact": true,
+      "sensor_observations": {
+        "front": {
+          "depth_observed": "sensor_observations/front/depth/000139.npy",
+          "valid_mask": "sensor_observations/front/valid/000139.png",
+          "depth_preview": "sensor_observations/front/preview/000139.png",
+          "rgb": "rgb/front/000139.png",
+          "source_frame_index": 139,
+          "source_timestamp": 6.95,
+          "outage": false
+        }
+      }
+    }
+  ],
+  "sensor_model": {
+    "version": "simforge.sensor_stress.v1",
+    "profile": "clean",
+    "severity": 0.5,
+    "severity_applied": true,
+    "calibrated": false,
+    "model_type": "heuristic offline observation stress; not a physical camera model",
+    "depth_unit": "m",
+    "depth_semantics": "camera-z; zero denotes invalid; valid_mask is authoritative",
+    "noise_sigma_m": "severity * (0.0005 + 0.002 * depth_gt_m ** 2)",
+    "noise_quantization_m": 0.0005,
+    "target_dropout_probability": 0.45,
+    "rgb_noise_sigma_uint8": 4.0,
+    "outage_frame_ranges": {
+      "front": [
+        0,
+        0
+      ]
+    },
+    "outage_range_end_exclusive": true,
+    "outage_representation": "black RGB, zero depth, all-invalid mask at current timestamp",
+    "preview_range_m": 2.0,
+    "rng": "SHA-256(model_version|episode_seed|frame_index|camera); independent of physics RNG; outage window uses frame_index=-1",
+    "source_seed": 20262224,
+    "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."
+    ]
+  },
+  "generation_seconds": 5.734000000054948,
+  "commercial_case": {
+    "episode_index": 18,
+    "case_id": "sensor_failure_benchmark.target_missing.test.r000.reference",
+    "condition_id": "target_missing.reference",
+    "condition_group_id": "target_missing",
+    "coverage_split": "matched_conditions",
+    "pair_id": "sensor_failure_benchmark.target_missing.test.r000",
+    "split": "test",
+    "role": "reference",
+    "product_id": "sensor_failure_benchmark",
+    "changed_parameter": "sensor_profile"
+  },
+  "resolved_config": {
+    "kind": "recovery",
+    "backend": "mujoco",
+    "name": "RGB-D 失效对照 · 同条件独立种子留出",
+    "coverage_split": "condition_holdout",
+    "scenario_id": "machine_tending",
+    "object_shape": "box",
+    "material": "opaque",
+    "background": "studio",
+    "lighting": "studio",
+    "difficulty": "standard",
+    "object_scale": 1.0,
+    "object_mass_kg": 0.1,
+    "surface_friction": 1.1,
+    "camera_jitter": 0.0,
+    "sensor_profile": "clean",
+    "sensor_severity": 0.5,
+    "empirical_sensor_profile": null,
+    "episodes": 1,
+    "split_strategy": "single_train",
+    "frames_per_episode": 140,
+    "fps": 20,
+    "width": 160,
+    "height": 120,
+    "seed": 20262224,
+    "camera_count": 1,
+    "failure_types": [
+      "drop"
+    ],
+    "blender_samples": 16
+  }
+}
\ No newline at end of file
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