{
  "schema_version": "1",
  "skill_id": "mujoco-rethink-robotics-sawyer-joint-control",
  "recorded_at": "2026-10-20T04:29:13.525639+00:00",
  "hub_commit": "09375f440444b84e5892864e9893de8232b5ddd3",
  "adapter_sha256": "4f6022fb6785b789a75cb1eb2d76fdcaf27bf893a2448d9320c9b17ab58ea477",
  "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
  "archive_sha256": "6866543ef9f07fd24f3fa4d134c06b30f5276f48daf412022b6edbaf6b2f0152",
  "case_plan_sha256": "f397d0e69aa84ddc2f4d93d6465daf6ccf14b5e11f05319934232223cdb28e1a",
  "source_guards_sha256": "c1b681bbe3c406cd1b6c2d26dc4fc4a9be716eef25472b8b7dbd15a9cde35276",
  "environment": {
    "runtime": "mujoco",
    "runtime_version": "3.3.7",
    "robot": "rethink_robotics_sawyer",
    "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-rethink-robotics-sawyer-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.04988290559460644,
            -1.088014704513809,
            0.05606842994141382,
            2.242334532504306,
            0.0460320957742741,
            0.6194131311456952,
            3.366088397076999
          ],
          "target_joint_positions_rad": [
            0.050015170469743325,
            -1.1096273478188419,
            0.05282303404110274,
            2.2368282032724043,
            0.047865074732073735,
            0.6199010334707916,
            3.3661005245258173
          ],
          "max_error_rad": 0.021612643305032764,
          "movement_rad": 0.07161264330503281
        },
        "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": 1.458,
      "stderr_tail": "",
      "input": {
        "seed": 0,
        "joint_offset_rad": 0.05
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-rethink-robotics-sawyer-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.07990850388577843,
            -1.057663780199339,
            0.08608866181433383,
            2.2716014961297892,
            0.07625727791131416,
            0.6492952355253988,
            3.3960928276144293
          ],
          "target_joint_positions_rad": [
            0.08001517046974332,
            -1.0796273478188418,
            0.08282303404110274,
            2.2668282032724045,
            0.07786507473207373,
            0.6499010334707915,
            3.3961005245258176
          ],
          "max_error_rad": 0.02196356761950291,
          "movement_rad": 0.10196356761950298
        },
        "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": 1.467,
      "stderr_tail": "",
      "input": {
        "seed": 1,
        "joint_offset_rad": 0.08
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-rethink-robotics-sawyer-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            -0.04985277672179297,
            -1.1893101596153874,
            -0.044102334320726286,
            2.1447352726390068,
            -0.0545918657081748,
            0.5198675451186094,
            3.266118886375849
          ],
          "target_joint_positions_rad": [
            -0.04998482953025668,
            -1.209627347818842,
            -0.04717696595889727,
            2.1368282032724046,
            -0.05213492526792627,
            0.5199010334707915,
            3.2661005245258177
          ],
          "max_error_rad": 0.020317188203454517,
          "movement_rad": 0.05245694044024853
        },
        "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": 1.461,
      "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."
}