{
  "schema_version": "1",
  "skill_id": "mujoco-kuka-iiwa-14-joint-control",
  "recorded_at": "2026-10-20T04:29:09.232864+00:00",
  "hub_commit": "09375f440444b84e5892864e9893de8232b5ddd3",
  "adapter_sha256": "fe072b09b32733e0f1ecf6eeff2875564b9321028536b065b8c0343cafc067c1",
  "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
  "archive_sha256": "6866543ef9f07fd24f3fa4d134c06b30f5276f48daf412022b6edbaf6b2f0152",
  "case_plan_sha256": "f397d0e69aa84ddc2f4d93d6465daf6ccf14b5e11f05319934232223cdb28e1a",
  "source_guards_sha256": "2b13f2c35d03d438d5c7d2b7c8019b6fb0818b252bec1a5257303c90c7c6d6df",
  "environment": {
    "runtime": "mujoco",
    "runtime_version": "3.3.7",
    "robot": "kuka_iiwa_14",
    "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-kuka-iiwa-14-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.050000000787642745,
            0.8939532521428557,
            0.050163674961050654,
            -1.5369035280591186,
            0.05047274000203127,
            0.05077402933705854,
            0.05000000000309949
          ],
          "target_joint_positions_rad": [
            0.0500000007876426,
            0.8641232233642905,
            0.05030680644523685,
            -1.5290405307799235,
            0.05024292452496094,
            0.050407979114510525,
            0.050000000003099655
          ],
          "max_error_rad": 0.02983002877856522,
          "movement_rad": 0.07983002877856527
        },
        "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": 0.571,
      "stderr_tail": "",
      "input": {
        "seed": 0,
        "joint_offset_rad": 0.05
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-kuka-iiwa-14-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.08000000078764291,
            0.9244479906743698,
            0.07987180511330277,
            -1.506875421507286,
            0.08046764614435338,
            0.0807568060096182,
            0.08000000000309933
          ],
          "target_joint_positions_rad": [
            0.0800000007876426,
            0.8941232233642904,
            0.08030680644523684,
            -1.4990405307799235,
            0.08024292452496094,
            0.08040797911451052,
            0.08000000000309966
          ],
          "max_error_rad": 0.03032476731007938,
          "movement_rad": 0.11032476731007934
        },
        "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": 0.569,
      "stderr_tail": "",
      "input": {
        "seed": 1,
        "joint_offset_rad": 0.08
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-kuka-iiwa-14-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            -0.04999999921235756,
            0.7921040752674697,
            -0.04897089725028091,
            -1.6369930396347963,
            -0.04952668278212168,
            -0.049179594507958266,
            -0.049999999996900184
          ],
          "target_joint_positions_rad": [
            -0.049999999212357406,
            0.7641232233642904,
            -0.049693193554763156,
            -1.6290405307799236,
            -0.04975707547503907,
            -0.04959202088548948,
            -0.04999999999690035
          ],
          "max_error_rad": 0.027980851903179338,
          "movement_rad": 0.057952508854872686
        },
        "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": 0.57,
      "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."
}