{
  "schema_version": "1",
  "skill_id": "mujoco-ufactory-xarm7-joint-control",
  "recorded_at": "2026-10-20T04:29:16.343976+00:00",
  "hub_commit": "09375f440444b84e5892864e9893de8232b5ddd3",
  "adapter_sha256": "414a0210a195d359822d6ec48b3909add2f15710df7cdddfecb3f155ba98165f",
  "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
  "archive_sha256": "6866543ef9f07fd24f3fa4d134c06b30f5276f48daf412022b6edbaf6b2f0152",
  "case_plan_sha256": "f397d0e69aa84ddc2f4d93d6465daf6ccf14b5e11f05319934232223cdb28e1a",
  "source_guards_sha256": "482649a9020cfbe750dd329345dbd6c793b4d37f819da7f1437eecda4b70b676",
  "environment": {
    "runtime": "mujoco",
    "runtime_version": "3.3.7",
    "robot": "ufactory_xarm7",
    "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-xarm7-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.05000009068728976,
            -0.17825033568014953,
            0.049950370643651223,
            0.9287673851330318,
            0.04983153431279827,
            1.2099482627276406,
            0.050000369698878715
          ],
          "target_joint_positions_rad": [
            0.05000009070553558,
            -0.18808870908163844,
            0.04987732752492387,
            0.9440279646244064,
            0.04993527224233238,
            1.2082722171926061,
            0.0500000453261595
          ],
          "max_error_rad": 0.015260579491374604,
          "movement_rad": 0.059838373401488926
        },
        "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": 0.586,
      "stderr_tail": "",
      "input": {
        "seed": 0,
        "joint_offset_rad": 0.05
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-ufactory-xarm7-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            0.08000009068759135,
            -0.14784960469541925,
            0.08002366179319328,
            0.9588259714973221,
            0.07980171738889585,
            1.239871697077448,
            0.08000050954252907
          ],
          "target_joint_positions_rad": [
            0.08000009070553558,
            -0.15808870908163847,
            0.07987732752492387,
            0.9740279646244063,
            0.07993527224233238,
            1.2382722171926062,
            0.0800000453261595
          ],
          "max_error_rad": 0.015201993127084257,
          "movement_rad": 0.09023910438621921
        },
        "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": 0.579,
      "stderr_tail": "",
      "input": {
        "seed": 1,
        "joint_offset_rad": 0.08
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-ufactory-xarm7-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            -0.049999909281167994,
            -0.2796722973644416,
            -0.05051904289602368,
            0.828586605403953,
            -0.05010153664450317,
            1.1101799685779379,
            -0.05000008096262455
          ],
          "target_joint_positions_rad": [
            -0.04999990929446443,
            -0.28808870908163847,
            -0.05012267247507614,
            0.8440279646244063,
            -0.050064727757667626,
            1.108272217192606,
            -0.0499999546738405
          ],
          "max_error_rad": 0.01544135922045331,
          "movement_rad": 0.06544135922045335
        },
        "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": 0.582,
      "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."
}