{
  "schema_version": "1",
  "skill_id": "mujoco-i2rt-yam-joint-control",
  "recorded_at": "2026-10-20T04:29:05.748861+00:00",
  "hub_commit": "09375f440444b84e5892864e9893de8232b5ddd3",
  "adapter_sha256": "f38f98acbd38e07700d8566bc97630053cd4efc1a16ca630ecd91aaa5579218a",
  "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
  "archive_sha256": "6866543ef9f07fd24f3fa4d134c06b30f5276f48daf412022b6edbaf6b2f0152",
  "case_plan_sha256": "f397d0e69aa84ddc2f4d93d6465daf6ccf14b5e11f05319934232223cdb28e1a",
  "source_guards_sha256": "14cbf8a6d85d09b82e704312a697e6dd6785736ac56b81d089d1111bd770ba0f",
  "environment": {
    "runtime": "mujoco",
    "runtime_version": "3.3.7",
    "robot": "i2rt_yam",
    "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-i2rt-yam-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.050263717820333675,
            1.0973042494073293,
            1.0972380842669025,
            0.050000053464975096,
            0.04999679962309399,
            0.04999998325780148
          ],
          "target_joint_positions_rad": [
            0.04999999347339186,
            1.0970000000127802,
            1.0969999999870605,
            0.0500000000398902,
            0.050000135675801555,
            0.049999993121896465
          ],
          "max_error_rad": 0.0003042493945490943,
          "movement_rad": 0.05030424939454914
        },
        "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": 0.645,
      "stderr_tail": "",
      "input": {
        "seed": 0,
        "joint_offset_rad": 0.05
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-i2rt-yam-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.08015867783473556,
            1.1272353358498886,
            1.1271404049525247,
            0.08000012111097093,
            0.07999656626451866,
            0.07999998494397532
          ],
          "target_joint_positions_rad": [
            0.07999999347339186,
            1.1270000000127802,
            1.1269999999870606,
            0.08000000003989019,
            0.08000013567580155,
            0.07999999312189647
          ],
          "max_error_rad": 0.00023533583710833028,
          "movement_rad": 0.0802353358371084
        },
        "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": 0.646,
      "stderr_tail": "",
      "input": {
        "seed": 1,
        "joint_offset_rad": 0.08
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-i2rt-yam-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            -0.05027099681416517,
            0.9967674327811062,
            0.9967614019558272,
            -0.05000000031243725,
            -0.0499965360074094,
            -0.04999999851264244
          ],
          "target_joint_positions_rad": [
            -0.050000006526608146,
            0.9970000000127801,
            0.9969999999870605,
            -0.04999999996010981,
            -0.04999986432419845,
            -0.05000000687810354
          ],
          "max_error_rad": 0.00027099028755702553,
          "movement_rad": 0.05027099028755703
        },
        "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": 0.647,
      "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."
}