{
  "schema_version": "1",
  "skill_id": "mujoco-aloha-joint-control",
  "recorded_at": "2026-10-20T04:28:55.924027+00:00",
  "hub_commit": "09375f440444b84e5892864e9893de8232b5ddd3",
  "adapter_sha256": "3273c8542ac4d9ca2f02e69e89e70ac8fae52b9005f0b31ffe48b25aeb96d0b3",
  "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
  "archive_sha256": "6866543ef9f07fd24f3fa4d134c06b30f5276f48daf412022b6edbaf6b2f0152",
  "case_plan_sha256": "f397d0e69aa84ddc2f4d93d6465daf6ccf14b5e11f05319934232223cdb28e1a",
  "source_guards_sha256": "e1d0039a9e6c45c1e078c91d35a7cc34e7aff4b105e89142993eab24262291ef",
  "environment": {
    "runtime": "mujoco",
    "runtime_version": "3.3.7",
    "robot": "aloha",
    "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-aloha-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.050000006584346994,
            -0.9096772007581012,
            1.250373787159255,
            0.04964015797179839,
            -0.19739844125054712,
            0.05155597934299929,
            0.050000006584346994,
            -0.9096772007581012,
            1.250373787159255,
            0.04964015797179839,
            -0.1973984412505471,
            0.051555979342999284
          ],
          "target_joint_positions_rad": [
            0.050000006794714495,
            -0.9097903220705341,
            1.2289585793457067,
            0.049661195970336844,
            -0.22403563458423764,
            0.0500673560384061,
            0.050000006794714495,
            -0.9097903220705341,
            1.2289585793457067,
            0.049661195970336844,
            -0.22403563458423764,
            0.0500673560384061
          ],
          "max_error_rad": 0.02663719333369055,
          "movement_rad": 0.07663719333369054
        },
        "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": 1.146,
      "stderr_tail": "",
      "input": {
        "seed": 0,
        "joint_offset_rad": 0.05
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-aloha-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.08000000680288895,
            -0.879354126410075,
            1.2800448617155202,
            0.07979378020369882,
            -0.16749977797228693,
            0.08235735074604943,
            0.08000000680288895,
            -0.879354126410075,
            1.2800448617155202,
            0.07979378020369882,
            -0.16749977797228696,
            0.08235735074604943
          ],
          "target_joint_positions_rad": [
            0.0800000067947145,
            -0.8797903220705342,
            1.2589585793457068,
            0.07966119597033684,
            -0.19403563458423762,
            0.0800673560384061,
            0.0800000067947145,
            -0.8797903220705342,
            1.2589585793457068,
            0.07966119597033684,
            -0.19403563458423762,
            0.0800673560384061
          ],
          "max_error_rad": 0.02653585661195068,
          "movement_rad": 0.1065358566119507
        },
        "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": 1.144,
      "stderr_tail": "",
      "input": {
        "seed": 1,
        "joint_offset_rad": 0.08
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-aloha-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            -0.04999998891153196,
            -1.0087718966420456,
            1.1517323855430488,
            -0.05106484634054007,
            -0.2987583142186416,
            -0.0513307122385384,
            -0.04999998891153196,
            -1.0087718966420456,
            1.1517323855430488,
            -0.05106484634054007,
            -0.2987583142186416,
            -0.0513307122385384
          ],
          "target_joint_positions_rad": [
            -0.04999999320528551,
            -1.0097903220705342,
            1.1289585793457066,
            -0.05033880402966316,
            -0.3240356345842376,
            -0.04993264396159391,
            -0.04999999320528551,
            -1.0097903220705342,
            1.1289585793457066,
            -0.05033880402966316,
            -0.3240356345842376,
            -0.04993264396159391
          ],
          "max_error_rad": 0.025277320365596045,
          "movement_rad": 0.05139806827694449
        },
        "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": 1.13,
      "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."
}