{
  "schema_version": "1",
  "skill_id": "mujoco-universal-robots-ur5e-joint-control",
  "recorded_at": "2026-10-20T04:29:20.072159+00:00",
  "hub_commit": "09375f440444b84e5892864e9893de8232b5ddd3",
  "adapter_sha256": "e5e9702dd0329de6f8dae5f91392f462778f5422596ae42ec8a1f41f6a9983d2",
  "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
  "archive_sha256": "6866543ef9f07fd24f3fa4d134c06b30f5276f48daf412022b6edbaf6b2f0152",
  "case_plan_sha256": "f397d0e69aa84ddc2f4d93d6465daf6ccf14b5e11f05319934232223cdb28e1a",
  "source_guards_sha256": "1e845b51ef2c58d6769f03b7e7e7bd9d2eb53b53e0c83b5d64655b79d86415db",
  "environment": {
    "runtime": "mujoco",
    "runtime_version": "3.3.7",
    "robot": "universal_robots_ur5e",
    "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-ur5e-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            -1.5208010783871746,
            -1.5036593592018175,
            1.6365173285696084,
            -1.5153994243567022,
            -1.5208140355566524,
            0.0499999999984251
          ],
          "target_joint_positions_rad": [
            -1.5208010783866768,
            -1.5127710343545187,
            1.6286780672611318,
            -1.5180594636651947,
            -1.5207999989004664,
            0.04999999999896611
          ],
          "max_error_rad": 0.00911167515270117,
          "movement_rad": 0.059111675152701215
        },
        "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": 1.205,
      "stderr_tail": "",
      "input": {
        "seed": 0,
        "joint_offset_rad": 0.05
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-universal-robots-ur5e-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            -1.4908010783874552,
            -1.473174751654941,
            1.6664257252371018,
            -1.4854820405183458,
            -1.4908219666094988,
            0.0799999999980978
          ],
          "target_joint_positions_rad": [
            -1.4908010783866767,
            -1.4827710343545186,
            1.6586780672611319,
            -1.4880594636651947,
            -1.4907999989004663,
            0.0799999999989661
          ],
          "max_error_rad": 0.009596282699577685,
          "movement_rad": 0.08959628269957776
        },
        "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": 1.211,
      "stderr_tail": "",
      "input": {
        "seed": 1,
        "joint_offset_rad": 0.08
      },
      "passed": true
    },
    {
      "exit_code": 0,
      "result": {
        "schema_version": "1",
        "skill_id": "mujoco-universal-robots-ur5e-joint-control",
        "status": "task_complete",
        "success": true,
        "outputs": {
          "joint_positions_rad": [
            -1.6208010783861668,
            -1.6055143157181968,
            1.536593141111244,
            -1.615282583240816,
            -1.6207857995401325,
            -0.05000000000049285
          ],
          "target_joint_positions_rad": [
            -1.6208010783866769,
            -1.6127710343545187,
            1.5286780672611318,
            -1.6180594636651948,
            -1.6207999989004664,
            -0.0500000000010339
          ],
          "max_error_rad": 0.007915073850112142,
          "movement_rad": 0.04999999999949001
        },
        "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": 1.218,
      "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."
}