{
  "schema_version": "1",
  "skill_id": "mujoco-franka-emika-panda-joint-control",
  "recorded_at": "2026-10-20T04:29:00.098857+00:00",
  "hub_commit": "09375f440444b84e5892864e9893de8232b5ddd3",
  "adapter_sha256": "7d9a4b424672b82ad558b05b148ea345b0a89ac4658b835afacc6cf292043255",
  "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
  "archive_sha256": "6866543ef9f07fd24f3fa4d134c06b30f5276f48daf412022b6edbaf6b2f0152",
  "case_plan_sha256": "f397d0e69aa84ddc2f4d93d6465daf6ccf14b5e11f05319934232223cdb28e1a",
  "source_guards_sha256": "1a3598f5e01a73cf6b6e973b01154c1da3fae1cd2e64e67a9ce7ccfced85d1f5",
  "environment": {
    "runtime": "mujoco",
    "runtime_version": "3.3.7",
    "robot": "franka_emika_panda",
    "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-franka-emika-panda-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.0499999984633333,
            0.06358500345070411,
            0.0499532557282177,
            -1.533452835750779,
            0.049294131802543315,
            1.618479198003586,
            -0.735299160209279
          ],
          "target_joint_positions_rad": [
            0.04999999846333345,
            0.056581605738557895,
            0.04999821994068648,
            -1.5271027773474217,
            0.04966552377768033,
            1.619648903689454,
            -0.7352999790611583
          ],
          "max_error_rad": 0.0070033977121462185,
          "movement_rad": 0.05700339771214622
        },
        "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": 1.358,
      "stderr_tail": "",
      "input": {
        "seed": 0,
        "joint_offset_rad": 0.05
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-franka-emika-panda-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.07999999846333314,
            0.09379199545645928,
            0.07990787415241474,
            -1.503466747142516,
            0.07927375965166446,
            1.6484578280927036,
            -0.7052986162023889
          ],
          "target_joint_positions_rad": [
            0.07999999846333346,
            0.08658160573855789,
            0.07999821994068648,
            -1.4971027773474217,
            0.07966552377768032,
            1.649648903689454,
            -0.7052999790611584
          ],
          "max_error_rad": 0.007210389717901389,
          "movement_rad": 0.08721038971790139
        },
        "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": 1.362,
      "stderr_tail": "",
      "input": {
        "seed": 1,
        "joint_offset_rad": 0.08
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-franka-emika-panda-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            -0.050000001536666394,
            -0.037166622723048146,
            -0.050008278924111506,
            -1.6334011411360387,
            -0.050628617053725226,
            1.5185668038869335,
            -0.8353005457251284
          ],
          "target_joint_positions_rad": [
            -0.050000001536666554,
            -0.04341839426144211,
            -0.05000178005931353,
            -1.6271027773474218,
            -0.05033447622231967,
            1.5196489036894538,
            -0.8352999790611584
          ],
          "max_error_rad": 0.006298363788616923,
          "movement_rad": 0.05629836378861697
        },
        "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": 1.363,
      "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."
}