{
  "schema_version": "1",
  "skill_id": "mujoco-franka-fr3-joint-control",
  "recorded_at": "2026-10-20T04:29:03.717896+00:00",
  "hub_commit": "09375f440444b84e5892864e9893de8232b5ddd3",
  "adapter_sha256": "df38732372254a8f6f0c6c14602c49352863773ffc56ccce20d39979159da4ad",
  "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
  "archive_sha256": "6866543ef9f07fd24f3fa4d134c06b30f5276f48daf412022b6edbaf6b2f0152",
  "case_plan_sha256": "f397d0e69aa84ddc2f4d93d6465daf6ccf14b5e11f05319934232223cdb28e1a",
  "source_guards_sha256": "a5494eccd756f29ce3f677f1b564d98ba6444ed6ef570908ef92ea945b4569b0",
  "environment": {
    "runtime": "mujoco",
    "runtime_version": "3.3.7",
    "robot": "franka_fr3",
    "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-fr3-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.04999999741777175,
            0.06197812854059203,
            0.049958652334651445,
            -1.5317019292272833,
            0.04915787540043515,
            1.6191254231905488,
            -0.7352983867387326
          ],
          "target_joint_positions_rad": [
            0.04999999741806977,
            0.055761308475371765,
            0.04999845996642093,
            -1.5262276450959602,
            0.04958483217118963,
            1.6199630779637073,
            -0.7353001182640524
          ],
          "max_error_rad": 0.006216820065220265,
          "movement_rad": 0.05621682006522027
        },
        "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": 1.532,
      "stderr_tail": "",
      "input": {
        "seed": 0,
        "joint_offset_rad": 0.05
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-franka-fr3-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.07999999741756232,
            0.09217079078102634,
            0.07991923573002756,
            -1.5017066013014133,
            0.07915310862881,
            1.6491193163902835,
            -0.7052970999399655
          ],
          "target_joint_positions_rad": [
            0.07999999741806976,
            0.08576130847537176,
            0.07999845996642094,
            -1.4962276450959602,
            0.07958483217118963,
            1.6499630779637073,
            -0.7053001182640525
          ],
          "max_error_rad": 0.006409482305654579,
          "movement_rad": 0.08640948230565458
        },
        "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": 1.524,
      "stderr_tail": "",
      "input": {
        "seed": 1,
        "joint_offset_rad": 0.08
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-franka-fr3-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            -0.05000000258199879,
            -0.03871634642896846,
            -0.05000590725228052,
            -1.6316820633213556,
            -0.050815012697588736,
            1.5191577245833783,
            -0.8353020874521095
          ],
          "target_joint_positions_rad": [
            -0.050000002581930235,
            -0.04423869152462824,
            -0.050001540033579074,
            -1.6262276450959603,
            -0.05041516782881038,
            1.5199630779637072,
            -0.8353001182640525
          ],
          "max_error_rad": 0.005522345095659784,
          "movement_rad": 0.05545441822539532
        },
        "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": 1.528,
      "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."
}