{
  "schema": "astrobench.workcell-demonstrations/v2",
  "method": "Archived tabletop scripted mechanism trials with robot CAD pose and collision checks",
  "cases": [
    {
      "task": "fdv1",
      "target": "RRM_TB1_FDV1_removable_cap",
      "completed": true,
      "completion_phase": "hold_stowed",
      "video": "media/fdv1.mp4",
      "record_sha256": "e60026cb42499e7d6d71dfcbaa4b075ace3bdbdb07aa9d753569ed9ff19d5d24",
      "layout": "tabletop",
      "evidence_type": "scripted_mechanism_trial"
    },
    {
      "task": "sma",
      "target": "RRM_TB1_SMA_cap_2_2",
      "completed": true,
      "completion_phase": "hold_stowed",
      "video": "media/sma.mp4",
      "record_sha256": "5420875f431713f20cbe140e7114a11ff036e42187d88eeecf6d3c0ea2b5b783",
      "layout": "tabletop",
      "evidence_type": "scripted_mechanism_trial"
    },
    {
      "task": "captive",
      "target": "RRM_TB1_TASK_captive_moving_screw",
      "completed": true,
      "completion_phase": "free_hold",
      "video": "media/captive.mp4",
      "record_sha256": "7b210d1775b1ecf9d2ccde31c4dbff4edb65f93c54d60de6c39e8852408e1c64",
      "layout": "tabletop",
      "evidence_type": "scripted_mechanism_trial"
    }
  ],
  "validation_summary": {
    "checks_passed": 8,
    "normal_completed": 3,
    "negative_controls": 5
  },
  "layout_review": {
    "revision": "rrm_front_centered_r003",
    "layout": {
      "mount": "direct_floor_on_thin_plate",
      "panel_origin_m": [
        0,
        -0.16,
        1.1
      ],
      "arm_base_origin_m": [
        0,
        -0.85,
        0.14455
      ],
      "cabin_floor_z_m": 0.11655,
      "panel_center_above_floor_m": 0.98345,
      "arm_mount_above_floor_m": 0.028,
      "robot_forward_distance_from_panel_m": 0.69,
      "ready_tip_panel_local_m": [
        0,
        0,
        0.12
      ]
    },
    "method": "Independent new centered ready pose CAD/IK check, and archived measured local task trajectories transformed into new cabin frame with newly solved robot inverse kinematics and sampled CAD clearance checks.",
    "evidence_type": "sampled_CAD_IK_layout_checks",
    "ready_poses": 1,
    "transformed_mechanism_trajectory_poses": 226,
    "approach_and_withdrawal_poses": 108,
    "total_checked_poses": 335,
    "operation_target_count": 12,
    "noncontact_obstacle_count": 0,
    "robot_self_collision_count": 0,
    "tool_robot_collision_count": 0,
    "all_pass": true,
    "new_policy_rollout": false,
    "new_physics_rollout": false,
    "review_receipt_sha256": "0f0adf7ac4ede72d5916fbafb3d0c7190696c1dc7a95287f65d01231e0c9d618",
    "images": {
      "overview": "media/rrm.png",
      "front": "media/rrm-front.png",
      "side": "media/rrm-side.png"
    }
  }
}