{
  "schema_version": "1",
  "skill_id": "mujoco-hello-robot-stretch-joint-control",
  "recorded_at": "2026-10-20T04:29:09.048061+00:00",
  "hub_commit": "09375f440444b84e5892864e9893de8232b5ddd3",
  "adapter_sha256": "ad43e4571209186961021ac52077b85488fc2590382b1e57a7c0e7f6dd44a714",
  "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
  "archive_sha256": "6866543ef9f07fd24f3fa4d134c06b30f5276f48daf412022b6edbaf6b2f0152",
  "case_plan_sha256": "f397d0e69aa84ddc2f4d93d6465daf6ccf14b5e11f05319934232223cdb28e1a",
  "source_guards_sha256": "5e5a5b221413a2901fe2c3a32d10b3896144face1a3d9f9af7e32fb1494a5409",
  "environment": {
    "runtime": "mujoco",
    "runtime_version": "3.3.7",
    "robot": "hello_robot_stretch",
    "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-hello-robot-stretch-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.05013385913533973,
            0.049998990795812465,
            0.0418872646370269
          ],
          "target_joint_positions_rad": [
            0.050066935348358176,
            0.049999823621192305,
            0.046090422811617564
          ],
          "max_error_rad": 0.004203158174590667,
          "movement_rad": 0.050066923786981556
        },
        "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": 2.96,
      "stderr_tail": "",
      "input": {
        "seed": 0,
        "joint_offset_rad": 0.05
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-hello-robot-stretch-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.08013375936253236,
            0.07999854722999657,
            0.07170091287210688
          ],
          "target_joint_positions_rad": [
            0.08006693534835818,
            0.0799998236211923,
            0.07609042281161757
          ],
          "max_error_rad": 0.004389509939510691,
          "movement_rad": 0.08006682401417418
        },
        "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": 2.963,
      "stderr_tail": "",
      "input": {
        "seed": 1,
        "joint_offset_rad": 0.08
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-hello-robot-stretch-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            -0.04986624329841847,
            -0.04999981427054138,
            -0.057465852482585324
          ],
          "target_joint_positions_rad": [
            -0.04993306465164183,
            -0.0500001763788077,
            -0.05390957718838244
          ],
          "max_error_rad": 0.003556275294202882,
          "movement_rad": 0.053556275294202885
        },
        "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": 2.933,
      "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."
}