{
  "schema_version": "1",
  "skill_id": "mujoco-ufactory-lite6-joint-control",
  "recorded_at": "2026-10-20T04:29:15.178951+00:00",
  "hub_commit": "09375f440444b84e5892864e9893de8232b5ddd3",
  "adapter_sha256": "86c88253854ceb709a899fe02e35b43c24602eaa53559477a32d48d2da299cc7",
  "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
  "archive_sha256": "6866543ef9f07fd24f3fa4d134c06b30f5276f48daf412022b6edbaf6b2f0152",
  "case_plan_sha256": "f397d0e69aa84ddc2f4d93d6465daf6ccf14b5e11f05319934232223cdb28e1a",
  "source_guards_sha256": "1d09ce88daa8307c3b2338afd2b9fdd902c6aea3108f56684f843d72f2855e1a",
  "environment": {
    "runtime": "mujoco",
    "runtime_version": "3.3.7",
    "robot": "ufactory_lite6",
    "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-ufactory-lite6-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.04999999892236589,
            0.05451918289387943,
            1.615723824662353,
            0.04961959133289649,
            1.619995477026516,
            0.05000008089452731
          ],
          "target_joint_positions_rad": [
            0.04999999892236606,
            0.05214633900106895,
            1.61786287675024,
            0.04981180284030227,
            1.6199996879307237,
            0.050000005304155645
          ],
          "max_error_rad": 0.002372843892810478,
          "movement_rad": 0.05237284389281048
        },
        "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": 0.52,
      "stderr_tail": "",
      "input": {
        "seed": 0,
        "joint_offset_rad": 0.05
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-ufactory-lite6-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.07999999892236571,
            0.08464627362394812,
            1.6457256727414646,
            0.07961741556856164,
            1.648786563114036,
            0.0800437399558373
          ],
          "target_joint_positions_rad": [
            0.07999999892236606,
            0.08214633900106895,
            1.6478628767502401,
            0.07981180284030226,
            1.6499996879307237,
            0.08000000530415564
          ],
          "max_error_rad": 0.002499934622879174,
          "movement_rad": 0.08249993462287918
        },
        "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": 0.527,
      "stderr_tail": "",
      "input": {
        "seed": 1,
        "joint_offset_rad": 0.08
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-ufactory-lite6-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            -0.050000001077633784,
            -0.045905006645144394,
            1.5157173419285184,
            -0.050371877503977015,
            1.5200026496668626,
            -0.050000042903798295
          ],
          "target_joint_positions_rad": [
            -0.05000000107763394,
            -0.047853660998931055,
            1.51786287675024,
            -0.05018819715969774,
            1.5199996879307236,
            -0.04999999469584436
          ],
          "max_error_rad": 0.0021455348217216397,
          "movement_rad": 0.052145534821721684
        },
        "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": 0.514,
      "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."
}