{
  "schema_version": 1,
  "kind": "mobility-trial-audit",
  "passed": true,
  "session_id": "c556288f-2007-48cd-963f-9fb9a4512800",
  "agent": "wheeled",
  "route": "ramp",
  "replicate": 2,
  "scene_identity": {
    "scene_id": "industrial-platform-mobility-v1",
    "revision": 2,
    "geometry_sha256": "c17933324add56456f818531abf4dd843fe8e44af23ac608a530b028d6e24226"
  },
  "task_completed": true,
  "task_outcome": "arrived_capture",
  "real_case_verified": false,
  "mode": "simulation",
  "can_verify_case": false,
  "actual_xy_center_path_m": 13.032885818076322,
  "actual_3d_body_path_m": 13.227021370754237,
  "recorded_duration_s": 133.199997022748,
  "final_verified_capture_time_s": 133.199997022748,
  "body_clearance_range_m": [
    0.21216167449951173,
    0.3992643356323242
  ],
  "physical_failure_samples": [],
  "registered_route_crossed": true,
  "final_stable_window_verified": true,
  "stand_hold_records_verified": 0,
  "rigid_camera_mount_verified_frames": 666,
  "initial_visibility": {
    "passed": false,
    "visible_points": 0,
    "sample_points": 25,
    "projected_interior_span_pixels": [
      27.742175153151464,
      24.224694506370525
    ],
    "image_nonempty": true,
    "frame_id": "2b1df9e9-981f-4b9b-b329-0d48aca72d31",
    "physics_step": 42,
    "sim_time_s": 0.20999999530613422,
    "samples": [
      {
        "visible": false,
        "expected_axial_m": 4.598259640173192,
        "measured_axial_m": 3.9297072887420654
      },
      {
        "visible": false,
        "expected_axial_m": 4.598377049700262,
        "measured_axial_m": 3.9298367500305176
      },
      {
        "visible": false,
        "expected_axial_m": 4.5984944592273305,
        "measured_axial_m": 3.929948329925537
      },
      {
        "visible": false,
        "expected_axial_m": 4.5986118687544,
        "measured_axial_m": 3.9300591945648193
      },
      {
        "visible": false,
        "expected_axial_m": 4.598729278281469,
        "measured_axial_m": 3.9301702976226807
      },
      {
        "visible": false,
        "expected_axial_m": 4.601623387124785,
        "measured_axial_m": 3.9326140880584717
      },
      {
        "visible": false,
        "expected_axial_m": 4.601740796651854,
        "measured_axial_m": 3.9327433109283447
      },
      {
        "visible": false,
        "expected_axial_m": 4.601858206178923,
        "measured_axial_m": 3.9328548908233643
      },
      {
        "visible": false,
        "expected_axial_m": 4.601975615705992,
        "measured_axial_m": 3.932966470718384
      },
      {
        "visible": false,
        "expected_axial_m": 4.602093025233061,
        "measured_axial_m": 3.933077335357666
      },
      {
        "visible": false,
        "expected_axial_m": 4.604987134076377,
        "measured_axial_m": 3.9355249404907227
      },
      {
        "visible": false,
        "expected_axial_m": 4.605104543603447,
        "measured_axial_m": 3.935654640197754
      },
      {
        "visible": false,
        "expected_axial_m": 4.605221953130515,
        "measured_axial_m": 3.9357659816741943
      },
      {
        "visible": false,
        "expected_axial_m": 4.605339362657585,
        "measured_axial_m": 3.9358773231506348
      },
      {
        "visible": false,
        "expected_axial_m": 4.605456772184653,
        "measured_axial_m": 3.9359893798828125
      },
      {
        "visible": false,
        "expected_axial_m": 4.60835088102797,
        "measured_axial_m": 3.9384586811065674
      },
      {
        "visible": false,
        "expected_axial_m": 4.60846829055504,
        "measured_axial_m": 3.9385697841644287
      },
      {
        "visible": false,
        "expected_axial_m": 4.608585700082108,
        "measured_axial_m": 3.9386813640594482
      },
      {
        "visible": false,
        "expected_axial_m": 4.608703109609178,
        "measured_axial_m": 3.938793420791626
      },
      {
        "visible": false,
        "expected_axial_m": 4.608820519136247,
        "measured_axial_m": 3.938904047012329
      },
      {
        "visible": false,
        "expected_axial_m": 4.611714627979563,
        "measured_axial_m": 3.941378355026245
      },
      {
        "visible": false,
        "expected_axial_m": 4.611832037506632,
        "measured_axial_m": 3.9414894580841064
      },
      {
        "visible": false,
        "expected_axial_m": 4.611949447033701,
        "measured_axial_m": 3.941601276397705
      },
      {
        "visible": false,
        "expected_axial_m": 4.61206685656077,
        "measured_axial_m": 3.9417128562927246
      },
      {
        "visible": false,
        "expected_axial_m": 4.612184266087839,
        "measured_axial_m": 3.9418251514434814
      }
    ]
  },
  "final_visibility": {
    "passed": true,
    "visible_points": 25,
    "sample_points": 25,
    "projected_interior_span_pixels": [
      135.7933887792048,
      117.76500843922268
    ],
    "image_nonempty": true,
    "frame_id": "c2e46daf-5f2e-46f4-8742-9d393959b668",
    "physics_step": 26642,
    "sim_time_s": 133.20999702252448,
    "samples": [
      {
        "visible": true,
        "expected_axial_m": 0.9460864083186677,
        "measured_axial_m": 0.9461086988449097
      },
      {
        "visible": true,
        "expected_axial_m": 0.9460864440999824,
        "measured_axial_m": 0.9461086988449097
      },
      {
        "visible": true,
        "expected_axial_m": 0.9460864798812971,
        "measured_axial_m": 0.9461087584495544
      },
      {
        "visible": true,
        "expected_axial_m": 0.9460865156626118,
        "measured_axial_m": 0.9461086988449097
      },
      {
        "visible": true,
        "expected_axial_m": 0.9460865514439265,
        "measured_axial_m": 0.9461088180541992
      },
      {
        "visible": true,
        "expected_axial_m": 0.9472729813505333,
        "measured_axial_m": 0.947292685508728
      },
      {
        "visible": true,
        "expected_axial_m": 0.947273017131848,
        "measured_axial_m": 0.9472926259040833
      },
      {
        "visible": true,
        "expected_axial_m": 0.9472730529131627,
        "measured_axial_m": 0.9442914724349976
      },
      {
        "visible": true,
        "expected_axial_m": 0.9472730886944773,
        "measured_axial_m": 0.9472928047180176
      },
      {
        "visible": true,
        "expected_axial_m": 0.947273124475792,
        "measured_axial_m": 0.9472927451133728
      },
      {
        "visible": true,
        "expected_axial_m": 0.9484595543823988,
        "measured_axial_m": 0.9484796524047852
      },
      {
        "visible": true,
        "expected_axial_m": 0.9484595901637135,
        "measured_axial_m": 0.9484796524047852
      },
      {
        "visible": true,
        "expected_axial_m": 0.9484596259450282,
        "measured_axial_m": 0.9454745650291443
      },
      {
        "visible": true,
        "expected_axial_m": 0.9484596617263429,
        "measured_axial_m": 0.9484795928001404
      },
      {
        "visible": true,
        "expected_axial_m": 0.9484596975076576,
        "measured_axial_m": 0.9484796524047852
      },
      {
        "visible": true,
        "expected_axial_m": 0.9496461274142644,
        "measured_axial_m": 0.949669599533081
      },
      {
        "visible": true,
        "expected_axial_m": 0.949646163195579,
        "measured_axial_m": 0.949669599533081
      },
      {
        "visible": true,
        "expected_axial_m": 0.9496461989768937,
        "measured_axial_m": 0.9466608166694641
      },
      {
        "visible": true,
        "expected_axial_m": 0.9496462347582084,
        "measured_axial_m": 0.9496695399284363
      },
      {
        "visible": true,
        "expected_axial_m": 0.9496462705395231,
        "measured_axial_m": 0.9496696591377258
      },
      {
        "visible": true,
        "expected_axial_m": 0.95083270044613,
        "measured_axial_m": 0.9508625864982605
      },
      {
        "visible": true,
        "expected_axial_m": 0.9508327362274447,
        "measured_axial_m": 0.9508625864982605
      },
      {
        "visible": true,
        "expected_axial_m": 0.9508327720087594,
        "measured_axial_m": 0.9508625864982605
      },
      {
        "visible": true,
        "expected_axial_m": 0.9508328077900741,
        "measured_axial_m": 0.950862467288971
      },
      {
        "visible": true,
        "expected_axial_m": 0.9508328435713888,
        "measured_axial_m": 0.9508625864982605
      }
    ]
  },
  "raw_recording_audit": {
    "valid": true,
    "session_id": "c556288f-2007-48cd-963f-9fb9a4512800",
    "state_count": 6667,
    "camera_count": 1332,
    "mode": "simulation",
    "can_verify_case": false,
    "scope": "recording-integrity-only"
  },
  "source_sha256": {
    "mobility_run.py": "aded5242101ca65ce7917d4f767199e28ed87d1e79da8b55b08ba7191fd229ef",
    "mobility_policy.py": "fdc4efb30c7c94cafcc8e4386f07f478fdb7b318e62d277161157ffc0527f08d",
    "mobility_supervise.py": "3df7dad108ee2e1c356bac0e33a1d4a012d55d8006dcf586da7f330ebcd4e3ce",
    "mobility_scene.py": "384bd1a6a2b43d4fc1f00f6f95b5818588657efa30d754c97bd6cdff98984a4e",
    "mobility_spec.py": "fe35e8b3e1e868be80a62576f93e231eef713db1e74ef70e1012905f92b00a66",
    "mobility_wheels.py": "bd8ea94c7f8ce92bf22315b701ba8d3a9e8d96282b77c3f2102f80d05a949bc8",
    "verify_mobility.py": "a498b34141732f72ef7cf0c31003cac0281305d8316ad61ec62eb01462fa2b8a",
    "run_sim6.py": "305e217d6df182aebab34e3b268cd548bd396cff0ee51a95239bea391d0cc74a",
    "recording.py": "4846d1803f22a6bd02518acf896a93a6b27bbfbdae1c1cb1c858eed80f7e5dd6",
    "supervise.py": "9c4e47484ae3c45368cf3915887746b493e415df6063d0de1c4d6434eacb960d",
    "sensor_clock.py": "08952a95ea5a1e4e87b117810847a93fdf3e17af864740d0b285d8995badc7da",
    "campus_scene.py": "9f1f7c4ddffc5f9fdf4c294422855a79841ac76d73c08394fe2de8e2916f6cfa",
    "frame_observation.py": "784f61156d85459527e4bc6fc1407a00b1ab842a4c602bef6f2b9a9c6ad4ce4d",
    "preview.py": "1d0f351237b06f223c0b415f7e345d1128b6b06515a05de1c6b80087743fb46a"
  },
  "raw_sha256": {
    "summary.json": "8bbdb2ed598e5626f648075522a342c3b1a40373ceac1c1b3f86882b985db56c",
    "trajectory.jsonl": "3deb3854161225638817cf1d892d19c951d2cdea3ca8ddbaf0e6886bddb3d332",
    "camera.jsonl": "bd8bf360aeec694b5a140131509a662c2dc599b1fac2eff67e25e7dbdf44c621",
    "latest.json": "1b3d6f31f8eb57c067b0a092128435cce6029326610a377e40c0a2360bafe86e"
  },
  "limitations": [
    "constructed scene, ground-truth pose and terrain sensing",
    "registered panel visibility, not text reading or equipment diagnosis",
    "programmatic wheeled configuration, not all commercial wheeled or tracked robots"
  ]
}
