{
  "schema_version": "1",
  "skill_id": "mujoco-trs-so-arm100-joint-control",
  "recorded_at": "2026-10-20T04:29:14.507473+00:00",
  "hub_commit": "09375f440444b84e5892864e9893de8232b5ddd3",
  "adapter_sha256": "9415f26df629595069307b0eb476f47c22a9563a695a557b153680f80568ce66",
  "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
  "archive_sha256": "6866543ef9f07fd24f3fa4d134c06b30f5276f48daf412022b6edbaf6b2f0152",
  "case_plan_sha256": "f397d0e69aa84ddc2f4d93d6465daf6ccf14b5e11f05319934232223cdb28e1a",
  "source_guards_sha256": "913a05937257a9de3c4c137a9a2a6eeb0f91cf6bdca0f885bb6dfece2afdcd3a",
  "environment": {
    "runtime": "mujoco",
    "runtime_version": "3.3.7",
    "robot": "trs_so_arm100",
    "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-trs-so-arm100-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.049634398398807046,
            -1.5039462961842067,
            1.63175969180763,
            1.6193530878129487,
            -1.5202063433747617,
            0.04980153988489837
          ],
          "target_joint_positions_rad": [
            0.0500000012444259,
            -1.5126594066774899,
            1.625480287608017,
            1.6199922561169293,
            -1.520000111869169,
            0.05000253650989116
          ],
          "max_error_rad": 0.00871311049328316,
          "movement_rad": 0.058713110493283205
        },
        "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": 0.47,
      "stderr_tail": "",
      "input": {
        "seed": 0,
        "joint_offset_rad": 0.05
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-trs-so-arm100-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.07962918143714934,
            -1.4739200010065554,
            1.661508734285927,
            1.6391625565313444,
            -1.4902099034107348,
            0.07979662569879203
          ],
          "target_joint_positions_rad": [
            0.0800000012444259,
            -1.4826594066774899,
            1.655480287608017,
            1.64,
            -1.490000111869169,
            0.08000253650989116
          ],
          "max_error_rad": 0.008739405670934453,
          "movement_rad": 0.08873940567093452
        },
        "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": 0.462,
      "stderr_tail": "",
      "input": {
        "seed": 1,
        "joint_offset_rad": 0.08
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-trs-so-arm100-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            -0.04963443479325436,
            -1.6034954671818111,
            1.5329677926351226,
            1.520506664608033,
            -1.6197937324267708,
            -0.04978199554018582
          ],
          "target_joint_positions_rad": [
            -0.04999999875557411,
            -1.61265940667749,
            1.525480287608017,
            1.5199922561169292,
            -1.6200001118691691,
            -0.04999746349010885
          ],
          "max_error_rad": 0.009163939495678841,
          "movement_rad": 0.049793620557601725
        },
        "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": 0.471,
      "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."
}