{
  "schema_version": "1",
  "skill_id": "mujoco-universal-robots-ur10e-joint-control",
  "recorded_at": "2026-10-20T04:29:19.154332+00:00",
  "hub_commit": "09375f440444b84e5892864e9893de8232b5ddd3",
  "adapter_sha256": "cfd8b2dab8aa40804f57d66c8537117eb0f170f836b672c1de364f50619f5e80",
  "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
  "archive_sha256": "6866543ef9f07fd24f3fa4d134c06b30f5276f48daf412022b6edbaf6b2f0152",
  "case_plan_sha256": "f397d0e69aa84ddc2f4d93d6465daf6ccf14b5e11f05319934232223cdb28e1a",
  "source_guards_sha256": "c68bf460c4de1e72b802abf92c55780c534ee66cfdcfa0aeabc666ddb099489b",
  "environment": {
    "runtime": "mujoco",
    "runtime_version": "3.3.7",
    "robot": "universal_robots_ur10e",
    "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-universal-robots-ur10e-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            -1.520800039304972,
            -1.5050124417134472,
            1.6353154538764494,
            -1.519797486055767,
            -1.5208017920869463,
            0.04999999999926756
          ],
          "target_joint_positions_rad": [
            -1.5208000393049672,
            -1.5133776918207948,
            1.6280931976244226,
            -1.520291598146708,
            -1.5207999998202177,
            0.049999999999267734
          ],
          "max_error_rad": 0.008365250107347677,
          "movement_rad": 0.05836525010734772
        },
        "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": 1.294,
      "stderr_tail": "",
      "input": {
        "seed": 0,
        "joint_offset_rad": 0.05
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-universal-robots-ur10e-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            -1.490800039304972,
            -1.4745637331344088,
            1.665236491481772,
            -1.4898109965250126,
            -1.4908028065694319,
            0.07999999999926741
          ],
          "target_joint_positions_rad": [
            -1.4908000393049672,
            -1.4833776918207948,
            1.6580931976244226,
            -1.490291598146708,
            -1.4907999998202177,
            0.07999999999926774
          ],
          "max_error_rad": 0.008813958686386014,
          "movement_rad": 0.08881395868638609
        },
        "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": 1.3,
      "stderr_tail": "",
      "input": {
        "seed": 1,
        "joint_offset_rad": 0.08
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-universal-robots-ur10e-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            -1.6208000393049624,
            -1.6067241383711044,
            1.5353713122545545,
            -1.6197818863709497,
            -1.6207981906009257,
            -0.050000000000732105
          ],
          "target_joint_positions_rad": [
            -1.6208000393049673,
            -1.613377691820795,
            1.5280931976244225,
            -1.620291598146708,
            -1.6207999998202178,
            -0.05000000000073227
          ],
          "max_error_rad": 0.007278114630131949,
          "movement_rad": 0.049999999999999836
        },
        "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": 1.291,
      "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."
}