{
  "schema_version": "1",
  "skill_id": "mujoco-agilex-piper-joint-control",
  "recorded_at": "2026-10-20T04:28:59.042291+00:00",
  "hub_commit": "09375f440444b84e5892864e9893de8232b5ddd3",
  "adapter_sha256": "886ac69bb04d90ee584ecad4b4b667ea32bca1a16f32a63d9338850b191a6f4b",
  "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
  "archive_sha256": "6866543ef9f07fd24f3fa4d134c06b30f5276f48daf412022b6edbaf6b2f0152",
  "case_plan_sha256": "f397d0e69aa84ddc2f4d93d6465daf6ccf14b5e11f05319934232223cdb28e1a",
  "source_guards_sha256": "6567269af4fb904f425241197304fdcc62ef3ecb4e6ad78fff60ee05fff1093f",
  "environment": {
    "runtime": "mujoco",
    "runtime_version": "3.3.7",
    "robot": "agilex_piper",
    "controller": "native_position_actuators",
    "observation": "joint_state",
    "os": "linux",
    "architecture": "x86_64",
    "python": "3.10"
  },
  "packages": {
    "mujoco": "3.3.7",
    "numpy": "1.26.4"
  },
  "cases": [
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-agilex-piper-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.05000010249291044,
            1.620000239211671,
            -1.2984885492612406,
            0.049999954790737114,
            0.04989269010247961,
            0.04991185885665156
          ],
          "target_joint_positions_rad": [
            0.05,
            1.62,
            -1.2985,
            0.05,
            0.049999999999999996,
            0.05
          ],
          "max_error_rad": 0.00010730989752038428,
          "movement_rad": 0.050011450738759455
        },
        "checks": {
          "nontrivial_target": true,
          "joint_goal_reached": true,
          "actual_motion": true,
          "finite_state": true
        },
        "execution_domain": "simulation",
        "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
        "interface_version": "1",
        "hardware_execution": false
      },
      "elapsed_seconds": 2.192,
      "stderr_tail": "",
      "input": {
        "seed": 0,
        "joint_offset_rad": 0.05
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-agilex-piper-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.0800002621462554,
            1.6500001040402237,
            -1.2684942112521103,
            0.07999994472180419,
            0.07991661893754447,
            0.07989026721458982
          ],
          "target_joint_positions_rad": [
            0.08,
            1.6500000000000001,
            -1.2685,
            0.08,
            0.07999999999999999,
            0.08
          ],
          "max_error_rad": 0.00010973278541018261,
          "movement_rad": 0.08000578874788977
        },
        "checks": {
          "nontrivial_target": true,
          "joint_goal_reached": true,
          "actual_motion": true,
          "finite_state": true
        },
        "execution_domain": "simulation",
        "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
        "interface_version": "1",
        "hardware_execution": false
      },
      "elapsed_seconds": 2.184,
      "stderr_tail": "",
      "input": {
        "seed": 1,
        "joint_offset_rad": 0.08
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-agilex-piper-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            -0.05000009211779659,
            1.5199997648593653,
            -1.398511366736349,
            -0.04999995503386372,
            -0.049895348199187096,
            -0.049911608365437746
          ],
          "target_joint_positions_rad": [
            -0.05,
            1.52,
            -1.3985,
            -0.05,
            -0.05000000000000001,
            -0.05
          ],
          "max_error_rad": 0.00010465180081291325,
          "movement_rad": 0.05001136673634887
        },
        "checks": {
          "nontrivial_target": true,
          "joint_goal_reached": true,
          "actual_motion": true,
          "finite_state": true
        },
        "execution_domain": "simulation",
        "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
        "interface_version": "1",
        "hardware_execution": false
      },
      "elapsed_seconds": 2.164,
      "stderr_tail": "",
      "input": {
        "seed": 2,
        "joint_offset_rad": -0.05
      },
      "passed": true
    }
  ],
  "passed": 3,
  "failed": 0,
  "negative_unknown_field_rejected": true,
  "negative_source_drift_rejected": true,
  "hardware_execution": false,
  "scope": "Authored bounded simulation cases; not general accuracy or physical compatibility."
}