{
  "id": "panda-joint-control",
  "title": "Control Panda joints in MuJoCo",
  "query": "Panda joint control",
  "runtime": "mujoco",
  "robot": "franka_emika_panda",
  "skill_id": "mujoco-franka-emika-panda-joint-control",
  "start_url": "https://api.superfastrobotics.com/v1/start?q=Panda+joint+control&runtime=mujoco&hub_commit=f97266a5cdd2c600cd376397a54892f08290df20&robot=franka_emika_panda",
  "exact_start_url": "https://api.superfastrobotics.com/v1/start?q=mujoco-franka-emika-panda-joint-control&query_mode=all_terms&hub_commit=f97266a5cdd2c600cd376397a54892f08290df20",
  "hub_commit": "f97266a5cdd2c600cd376397a54892f08290df20",
  "record_version": "1.0.0",
  "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
  "environment": [
    {
      "runtime": "mujoco",
      "runtime_version": "3.3.7",
      "robot": "franka_emika_panda",
      "controller": "native_position_actuators",
      "observation": "joint_state",
      "os": "linux",
      "architecture": "x86_64",
      "python": "3.10",
      "status": "hub_verified"
    }
  ],
  "requirements": {
    "python": ">=3.10,<3.11",
    "packages": [
      "mujoco==3.3.7",
      "numpy==1.26.4"
    ],
    "hardware": [
      "Linux x86_64; CPU simulation; see retained receipt for the exact host environment"
    ],
    "rendering": "Headless. EGL libraries are required for MuJoCo imports; PushT uses SDL dummy video. No interactive display.",
    "api_keys": [],
    "network": [
      "Pinned source archive during preparation",
      "PyPI dependencies during explicit installation"
    ],
    "dependency_lock": "Direct runtime versions are pinned and measured. The receipt retains the complete environment freeze; prepare records the installed environment. System drivers are separate host requirements."
  },
  "example_input": {
    "seed": 0,
    "joint_offset_rad": 0.08
  },
  "interface": {
    "version": "1",
    "kind": "controller",
    "abstraction_level": 1,
    "execution_domain": "simulation",
    "language": "python",
    "input_transport": "json_file_or_inline",
    "output_transport": "json_stdout",
    "output_selector": "outputs",
    "conventions": {
      "linear_unit": "m",
      "angular_unit": "rad",
      "time_unit": "s",
      "coordinate_frame": "right_handed_world_xyz; +z_up",
      "joint_order": "joint1,joint2,joint3,joint4,joint5,joint6,joint7",
      "quaternion_order": "not_used"
    },
    "input_schema": {
      "type": "object",
      "required": [
        "seed",
        "joint_offset_rad"
      ],
      "properties": {
        "seed": {
          "type": "integer",
          "minimum": 0,
          "maximum": 10000
        },
        "joint_offset_rad": {
          "type": "number",
          "minimum": -0.15,
          "maximum": 0.15,
          "x-unit": "rad"
        }
      },
      "additionalProperties": false
    },
    "output_schema": {
      "type": "object",
      "required": [
        "joint_positions_rad",
        "target_joint_positions_rad",
        "max_error_rad",
        "movement_rad"
      ],
      "properties": {
        "joint_positions_rad": {
          "type": "array",
          "minItems": 7,
          "maxItems": 7,
          "items": {
            "type": "number",
            "minimum": -20,
            "maximum": 20
          },
          "x-unit": "rad",
          "x-frame": "named_model_joint_coordinates",
          "x-order": [
            "joint1",
            "joint2",
            "joint3",
            "joint4",
            "joint5",
            "joint6",
            "joint7"
          ]
        },
        "target_joint_positions_rad": {
          "type": "array",
          "minItems": 7,
          "maxItems": 7,
          "items": {
            "type": "number",
            "minimum": -20,
            "maximum": 20
          },
          "x-unit": "rad",
          "x-frame": "named_model_joint_coordinates",
          "x-order": [
            "joint1",
            "joint2",
            "joint3",
            "joint4",
            "joint5",
            "joint6",
            "joint7"
          ]
        },
        "max_error_rad": {
          "type": "number",
          "minimum": 0,
          "maximum": 50,
          "x-unit": "rad"
        },
        "movement_rad": {
          "type": "number",
          "minimum": 0,
          "maximum": 50,
          "x-unit": "rad"
        }
      },
      "additionalProperties": false
    },
    "preconditions": [
      "Use the exact recorded source, Linux Python 3.10 environment and pinned direct packages.",
      "No physical robot, network actuation or external robot credentials."
    ],
    "postconditions": [
      "All reported checks must be true and all output numbers finite.",
      "Success covers the declared goal and frozen cases, not arbitrary tasks or physical hardware."
    ],
    "failure_codes": [
      "invalid_input_or_environment",
      "execution_failed",
      "task_failed"
    ],
    "composition": {
      "depends_on": [],
      "automatic_frame_conversion": false,
      "automatic_hardware_execution": false
    },
    "origin_reference_ids": [
      "mujoco-menagerie-artifact-franka-emika-panda-scene-xml"
    ],
    "origin_relationship": "prepared_from_the_same_pinned_model; inspect the declared controller and goal; no physical compatibility is inferred"
  },
  "completion": {
    "success_condition": "All declared goal and finite-state checks pass; exit 0 with task_complete. Move the named actuated hinge joints by a bounded offset from the reset/settled pose; max residual <0.035 rad and nonzero actual motion. This is not end-effector planning, balance, locomotion or hardware control.",
    "timeout_seconds": 180,
    "failure_modes": [
      "Invalid input or source checksum",
      "Different pinned package version",
      "Unavailable runtime/driver",
      "Goal not reached within bounded steps"
    ],
    "stop_condition": "Terminate the adapter at the recorded timeout. No physical hardware is opened."
  },
  "evidence": {
    "level": "task_complete",
    "verified_by": "Hub finite-case Lambda execution harness",
    "date": "2026-10-20",
    "environment": {
      "scope": "simulation",
      "physical_robot": false,
      "platforms": [
        "linux"
      ]
    },
    "commands": [
      "python tools/verify_runtime_expansion.py --backend menagerie --source-cache SOURCE_CACHE --output OUTPUT"
    ],
    "result": "All 3 frozen cases completed against this exact adapter and source.",
    "artifacts": [
      "https://raw.githubusercontent.com/Superfast-Robotics/robot-skill-hub/f97266a5cdd2c600cd376397a54892f08290df20/evidence/runtime/diverse-sim-v1/mujoco-franka-emika-panda-joint-control.json"
    ],
    "runtime_verification": "task_complete",
    "contributor_reported": null,
    "hub_verification": {
      "runtime": "task_complete",
      "scope": "simulation",
      "adapter_sha256": "7d9a4b424672b82ad558b05b148ea345b0a89ac4658b835afacc6cf292043255",
      "source_commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
      "record_version": "1.0.0",
      "case_count": 3,
      "retained_failed_cases": 0
    }
  },
  "current_execution_state": "completed",
  "sample_url": "https://hub.superfastrobotics.com/samples/mujoco-franka-emika-panda-joint-control/",
  "execution_performed": false,
  "sharing_performed": false
}