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"rate": 0.1111111111111111 }, "planned": 200, "verdict_counts": { "complete": 24, "incomplete": 56, "unknown": 120 } } }, "protocol_sha256": "453d671c9b2addcfb90eed095a9b39fea866f5089c432ed951de6a5717c00e6a", "provider_calls": 0, "results": [ { "case_id": "native-fresh-01-complete", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.04682333594402e-06, "upper": 2.04682333594402e-06 }, "observed": 2.04682333594402e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090919288e-06, "upper": 1.0577925090919288e-06 }, "observed": 1.0577925090919288e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805231593294e-07, "upper": 1.0856805231593294e-07 }, "observed": 1.0856805231593294e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19655632571758e-09, "upper": 2.19655632571758e-09 }, "observed": 2.19655632571758e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 311583, 308916, 304292, 319375, 308958, 317333, 308417, 312667, 308375, 313750, 304459, 306667, 303625, 307292, 307375, 305625, 304208, 311541, 306125, 318000, 310750, 319334, 313375, 342500, 316958, 314000, 335166, 307083, 308042, 303000, 305625, 307833, 307000, 309125, 307042, 304667, 307458, 309166, 305250, 307584, 310917, 305333, 310375, 304750, 375334, 312291, 415625, 307458, 311833, 300500, 301917, 308708, 300750, 306625, 302583, 303541, 300208, 300541, 302000, 310708, 306750, 301291, 300875, 298250, 298000, 304708, 304917, 305959, 294708, 302292, 301667, 304916, 298708, 300042, 295125, 295750, 303583, 299750, 295333, 296417, 292917, 292208, 293084, 296084, 294916, 294417, 296625, 292709, 317875, 309125, 301375, 304666, 302459, 311959, 296500, 304334, 314750, 303000, 335542, 321083 ] }, { "case_id": "native-fresh-01-missing_target", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 172208, 172500, 298791, 197500, 167042, 180708, 174458, 165875, 164667, 164125, 173375, 218333, 207291, 171792, 176792, 172250, 177542, 184250, 174125, 174208, 190416, 170583, 169084, 171542, 170250, 168666, 172250, 170167, 169708, 170083, 170125, 170792, 169458, 170250, 170333, 169416, 169916, 170542, 171708, 170125, 169083, 169791, 169917, 169167, 171167, 169166, 170125, 169042, 168250, 170125, 168541, 170792, 169667, 168416, 169459, 167459, 169500, 168083, 167708, 172459, 167958, 169417, 170250, 172541, 169959, 172792, 170125, 171666, 173250, 173959, 170500, 243833, 178209, 173708, 171708, 356917, 210917, 167541, 173459, 186541, 182125, 179333, 180709, 188167, 175834, 179125, 183875, 171000, 168625, 177625, 174416, 174250, 173250, 167542, 172500, 182875, 179625, 177375, 170416, 174792 ] }, { "case_id": "native-fresh-01-wrong_object", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 178917, 167833, 182709, 178083, 188584, 176958, 188833, 170625, 187750, 172708, 172250, 168458, 166959, 170208, 172667, 168750, 168125, 168000, 174833, 171000, 170042, 167916, 166334, 170042, 167334, 166750, 166541, 170459, 166291, 168084, 165167, 165625, 166083, 170291, 170917, 178208, 173375, 175584, 177750, 175875, 175541, 173583, 175459, 179166, 165750, 165792, 166000, 165375, 165250, 164542, 166208, 164667, 169041, 169250, 168916, 164208, 190709, 169000, 172167, 292416, 171542, 170792, 166417, 167459, 166833, 167000, 169125, 169792, 169750, 167083, 170667, 168000, 168625, 169000, 166417, 165583, 166708, 165667, 170500, 169042, 164166, 169959, 169500, 165833, 165375, 166667, 167000, 168500, 165458, 168917, 164625, 170209, 168291, 166041, 170625, 165750, 168042, 169792, 169500, 169458 ] }, { "case_id": "native-fresh-01-wrong_position", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233359896785e-06, "upper": 2.0468233359896785e-06 }, "observed": 2.0468233359896785e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090929285e-06, "upper": 1.0577925090929285e-06 }, "observed": 1.0577925090929285e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.1699999889097908, "upper": 0.1699999889097908 }, "observed": 0.1699999889097908, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19655632571758e-09, "upper": 2.19655632571758e-09 }, "observed": 2.19655632571758e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 316916, 305667, 293875, 297542, 309167, 319083, 304708, 301708, 305250, 305542, 298250, 299791, 292250, 306916, 351083, 356792, 350167, 382458, 433583, 346625, 309208, 316250, 308458, 315250, 307125, 329916, 309375, 309000, 306417, 308208, 307250, 301792, 306417, 299625, 307334, 310542, 301083, 300750, 306500, 301917, 317833, 304917, 299750, 300333, 303875, 314375, 302709, 304709, 306167, 337292, 319167, 308375, 308750, 303959, 305417, 302167, 312959, 300875, 308542, 299375, 299584, 299708, 301084, 302167, 299291, 298792, 297958, 299208, 298125, 298708, 301125, 297583, 300708, 299209, 302750, 321666, 375250, 316625, 300458, 305958, 298459, 299792, 310583, 310458, 298042, 306583, 298459, 306250, 298042, 298709, 303334, 304584, 302209, 308959, 296709, 304250, 296667, 299834, 297625, 308166 ] }, { "case_id": "native-fresh-01-wrong_orientation", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233360039306e-06, "upper": 2.0468233360039306e-06 }, "observed": 2.0468233360039306e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091042101e-06, "upper": 1.0577925091042101e-06 }, "observed": 1.0577925091042101e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429892478866065, "upper": 0.29429892478866065 }, "observed": 0.29429892478866065, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.085680518097649e-07, "upper": 1.085680518097649e-07 }, "observed": 1.085680518097649e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.5707963245985568, "upper": 1.5707963245985568 }, "observed": 1.5707963245985568, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 292667, 293916, 300250, 302250, 325083, 307208, 302375, 290292, 302750, 290083, 291583, 288917, 289375, 288167, 286833, 288500, 297042, 288083, 287125, 296042, 291084, 294708, 372959, 317125, 305084, 301750, 307875, 297250, 298750, 294291, 293292, 293542, 292750, 302000, 300875, 298375, 298458, 320625, 295875, 292291, 289417, 290334, 291625, 289584, 289375, 288708, 289375, 289917, 289584, 290625, 312292, 300792, 297250, 300167, 292625, 290041, 291916, 290208, 292583, 286167, 294500, 303000, 287750, 289708, 287792, 295750, 300375, 301500, 289584, 289917, 293375, 314125, 292542, 291541, 286666, 298208, 292750, 300375, 394166, 301041, 297875, 297166, 288291, 291750, 295834, 299125, 292291, 288625, 289542, 289292, 287125, 287834, 288916, 287000, 287417, 286833, 286875, 288250, 288458, 287834 ] }, { "case_id": "native-fresh-01-unreleased", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.003929426763570004, "upper": 0.003929426763570004 }, "observed": 0.003929426763570004, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.00014125936596424426, "upper": 0.00014125936596424426 }, "observed": 0.00014125936596424426, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.7946002762486654, "upper": 0.7946002762486654 }, "observed": 0.7946002762486654, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.3051707835468317, "upper": 0.3051707835468317 }, "observed": 0.3051707835468317, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.004974152984982986, "upper": 0.004974152984982986 }, "observed": 0.004974152984982986, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.09322061951319065, "upper": 0.09322061951319065 }, "observed": 0.09322061951319065, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.19999999999997797, "evaluated_end_s": 6.799999999999473, "evaluated_sample_count": 100, "evaluated_start_s": 6.599999999999495, "newest_t_s": 6.799999999999473, "source_sample_count": 100 } }, "timing_ns": [ 288625, 290542, 291916, 301375, 291208, 292334, 290750, 286833, 290583, 289375, 299541, 296208, 290041, 287125, 290959, 294541, 300542, 303500, 300792, 301209, 320000, 381292, 312500, 301791, 304125, 334083, 306834, 303833, 295500, 296458, 297459, 294417, 306125, 305209, 307750, 302708, 312583, 306333, 311375, 306125, 299833, 315417, 310750, 309583, 300875, 296917, 298292, 295958, 294833, 292125, 299125, 301875, 304167, 348334, 306916, 307583, 305416, 308458, 301083, 313708, 308416, 301375, 304834, 287834, 287042, 286125, 285292, 287709, 289958, 295333, 290750, 289583, 287417, 290084, 295083, 306833, 294125, 298375, 326291, 372000, 297041, 303917, 291875, 298541, 303166, 317667, 325416, 307209, 301917, 298917, 307292, 298667, 298375, 300250, 298375, 297250, 308000, 327792, 344625, 336250 ] }, { "case_id": "native-fresh-01-moving_alias", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.04682333594402e-06, "upper": 2.04682333594402e-06 }, "observed": 2.04682333594402e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12, "upper": 0.12 }, "observed": 0.12, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805231593294e-07, "upper": 1.0856805231593294e-07 }, "observed": 1.0856805231593294e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19655632571758e-09, "upper": 2.19655632571758e-09 }, "observed": 2.19655632571758e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "linear_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 297792, 292333, 291708, 300750, 292208, 294292, 292917, 296583, 297625, 306125, 294792, 306000, 291625, 292667, 292708, 292583, 298875, 312250, 305542, 388291, 303666, 295541, 291875, 296792, 290541, 294958, 292000, 288792, 303667, 293166, 289958, 291000, 290459, 290833, 305750, 291750, 292625, 294583, 302125, 297958, 299458, 315958, 297541, 307500, 301167, 295000, 296792, 299625, 297791, 300208, 291083, 292375, 326584, 310750, 303416, 296417, 308667, 300000, 308625, 298250, 308833, 302833, 297375, 297416, 296292, 300834, 291750, 311125, 297042, 308459, 313209, 326000, 317500, 312334, 373709, 328750, 308625, 309917, 337709, 327917, 312000, 306750, 317917, 325500, 316333, 294167, 314625, 322709, 333458, 318333, 291792, 310333, 314541, 324041, 304458, 333125, 315500, 293500, 310292, 296375 ] }, { "case_id": "native-fresh-01-occluded", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.04682333594402e-06, "upper": 2.04682333594402e-06 }, "observed": 2.04682333594402e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090919288e-06, "upper": 1.0577925090919288e-06 }, "observed": 1.0577925090919288e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805231593294e-07, "upper": 1.0856805231593294e-07 }, "observed": 1.0856805231593294e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19655632571758e-09, "upper": 2.19655632571758e-09 }, "observed": 2.19655632571758e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 297459, 293834, 294833, 291625, 293791, 311625, 305375, 293084, 308125, 296125, 300875, 302167, 297708, 305709, 291083, 303125, 389250, 303417, 304417, 297541, 300292, 291541, 290583, 291958, 294416, 293625, 293834, 301000, 290416, 294208, 291083, 292166, 288833, 294417, 291333, 300666, 294583, 299000, 305833, 300917, 289416, 293708, 297708, 301875, 293125, 309458, 302041, 302667, 299417, 302375, 295583, 303167, 297584, 299750, 298292, 301708, 302083, 304291, 298792, 298000, 299292, 300709, 302084, 297375, 297792, 298958, 295542, 293500, 294750, 298625, 295375, 305292, 394666, 316625, 290916, 291958, 296542, 294208, 301958, 293167, 306583, 301833, 305250, 313375, 299334, 297000, 301833, 297291, 291208, 290375, 302083, 290542, 306125, 296583, 293417, 295584, 298042, 298833, 305375, 298166 ] }, { "case_id": "native-fresh-02-complete", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336144828e-06, "upper": 2.046823336144828e-06 }, "observed": 2.046823336144828e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091146452e-06, "upper": 1.0577925091146452e-06 }, "observed": 1.0577925091146452e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805238756817e-07, "upper": 1.0856805238756817e-07 }, "observed": 1.0856805238756817e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965562285730655e-09, "upper": 2.1965562285730655e-09 }, "observed": 2.1965562285730655e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 297167, 298667, 304166, 298125, 299583, 294875, 295375, 293500, 296583, 299542, 302333, 298458, 313041, 296625, 301250, 388666, 305792, 292958, 294125, 301958, 292833, 292042, 294666, 291542, 292208, 298000, 296333, 325042, 305125, 297083, 300083, 304500, 302625, 303375, 298583, 297500, 300542, 295875, 294375, 297416, 297667, 302625, 299375, 299375, 295708, 299208, 302125, 295750, 299084, 299625, 297167, 296916, 292292, 301708, 299542, 299542, 293084, 299375, 299209, 292375, 297667, 298917, 293542, 294583, 297708, 294959, 292541, 295042, 293667, 299834, 313167, 400041, 307041, 296042, 289500, 294416, 295333, 299041, 291208, 290708, 290125, 296500, 292625, 308792, 295166, 291792, 291875, 292458, 291459, 291208, 293708, 292542, 291958, 291375, 291625, 290708, 290083, 290375, 291375, 292708 ] }, { "case_id": "native-fresh-02-missing_target", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 165708, 163958, 163500, 164709, 164667, 165833, 165292, 164875, 164709, 166584, 165292, 163750, 163708, 164625, 167208, 166167, 165792, 164000, 164458, 166666, 164250, 164083, 165834, 165250, 165916, 172500, 166208, 167084, 166375, 167917, 169250, 166292, 165125, 166417, 172958, 227042, 172583, 170750, 207542, 237917, 268500, 171042, 170584, 175000, 179542, 171084, 181416, 182083, 166958, 167167, 167125, 173708, 176416, 174584, 168458, 173250, 173708, 172833, 174375, 174917, 169000, 172500, 169291, 169375, 169958, 170083, 170167, 173708, 169583, 173916, 173084, 172333, 169167, 171375, 172459, 170959, 173333, 167584, 171917, 175417, 171583, 168834, 171958, 172417, 172167, 169292, 172000, 174791, 166250, 167667, 165667, 166375, 169542, 165833, 166291, 178375, 169542, 167708, 178459, 166167 ] }, { "case_id": "native-fresh-02-wrong_object", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 166500, 167583, 166459, 165666, 165584, 165625, 165833, 165417, 165167, 165542, 165917, 174959, 172667, 169708, 170666, 167417, 167042, 166208, 166666, 245250, 175542, 171500, 174250, 181542, 174041, 179000, 175583, 272542, 174250, 170250, 170000, 168458, 164291, 163750, 170959, 162833, 171125, 170584, 170625, 178042, 167625, 167709, 167625, 174875, 173208, 169125, 184583, 166959, 162125, 170292, 163833, 164250, 166583, 167834, 166458, 169000, 167709, 168083, 162833, 171166, 165458, 169333, 167000, 167375, 166375, 169625, 169833, 170083, 168458, 167042, 171875, 168125, 168542, 168250, 163500, 165375, 172750, 188958, 171709, 175000, 163292, 170750, 168083, 168708, 167792, 162375, 171917, 168083, 168500, 169042, 168333, 170209, 168334, 169917, 167833, 163250, 164959, 169000, 162708, 168541 ] }, { "case_id": "native-fresh-02-wrong_position", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336120914e-06, "upper": 2.046823336120914e-06 }, "observed": 2.046823336120914e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091296213e-06, "upper": 1.0577925091296213e-06 }, "observed": 1.0577925091296213e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429892478866065, "upper": 0.29429892478866065 }, "observed": 0.29429892478866065, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.16999996539222756, "upper": 0.16999996539222756 }, "observed": 0.16999996539222756, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965562285730655e-09, "upper": 2.1965562285730655e-09 }, "observed": 2.1965562285730655e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 308208, 302125, 314333, 299791, 305583, 303917, 297625, 302500, 312625, 304709, 301084, 301875, 300209, 315333, 299000, 295375, 293458, 303250, 298167, 297459, 310500, 303708, 301875, 304083, 297250, 297250, 289208, 288708, 293250, 289417, 289458, 289667, 289209, 293667, 303750, 293000, 302750, 305916, 307500, 295667, 292709, 291583, 321375, 293709, 292417, 299625, 304333, 301042, 295833, 291583, 291250, 299875, 297291, 312958, 366708, 303833, 295334, 294291, 293250, 293958, 296292, 288000, 288166, 289375, 287750, 289209, 294959, 290875, 294792, 291625, 305375, 308250, 292167, 296041, 300334, 317334, 294250, 298625, 293000, 289209, 291417, 289333, 297333, 288166, 290709, 304250, 302625, 291709, 303792, 297000, 305458, 294166, 297750, 287417, 288333, 289125, 294125, 296500, 295209, 298875 ] }, { "case_id": "native-fresh-02-wrong_orientation", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336057573e-06, "upper": 2.046823336057573e-06 }, "observed": 2.046823336057573e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.057792509073851e-06, "upper": 1.057792509073851e-06 }, "observed": 1.057792509073851e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886608, "upper": 0.2942989247886608 }, "observed": 0.2942989247886608, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.085680523691675e-07, "upper": 1.085680523691675e-07 }, "observed": 1.085680523691675e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.5707963245985561, "upper": 1.5707963245985561 }, "observed": 1.5707963245985561, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 306209, 300500, 300875, 306334, 298334, 297459, 289458, 287959, 295750, 290041, 286459, 287875, 290333, 292666, 290458, 298667, 291334, 294083, 296542, 292167, 293959, 293250, 293500, 298666, 295916, 303625, 296291, 296666, 297917, 294167, 298708, 324917, 307584, 309625, 299375, 297834, 296750, 298833, 304666, 307875, 302625, 299167, 299667, 297625, 302375, 306375, 297208, 295708, 298792, 296459, 300750, 297083, 300292, 325625, 378458, 317166, 300875, 300125, 310458, 299500, 303708, 297667, 298042, 293250, 320166, 300833, 294458, 299250, 296208, 296625, 299416, 297875, 311916, 309042, 292541, 305042, 289792, 304084, 299000, 304166, 299000, 301208, 300875, 294750, 301083, 295583, 301959, 301584, 301375, 298500, 300625, 298875, 296209, 299333, 300417, 300000, 297583, 322916, 301416, 300959 ] }, { "case_id": "native-fresh-02-unreleased", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.054068346479087745, "upper": 0.054068346479087745 }, "observed": 0.054068346479087745, "operator": "le", "reason": "angular_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.004026982097644235, "upper": 0.004026982097644235 }, "observed": 0.004026982097644235, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.7658868815149396, "upper": 0.7658868815149396 }, "observed": 0.7658868815149396, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.23160129100689203, "upper": 0.23160129100689203 }, "observed": 0.23160129100689203, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.009702936625693255, "upper": 0.009702936625693255 }, "observed": 0.009702936625693255, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.09530514903867345, "upper": 0.09530514903867345 }, "observed": 0.09530514903867345, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "angular_motion_in_window", "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.19999999999997797, "evaluated_end_s": 6.799999999999473, "evaluated_sample_count": 100, "evaluated_start_s": 6.599999999999495, "newest_t_s": 6.799999999999473, "source_sample_count": 100 } }, "timing_ns": [ 298667, 301083, 298292, 299041, 299292, 298959, 296708, 300167, 300458, 293584, 296917, 298875, 293792, 296833, 303166, 290958, 298666, 300375, 299917, 323334, 305500, 295875, 306416, 294458, 302500, 297834, 305125, 294917, 295000, 298708, 294042, 299416, 295917, 296708, 298709, 305917, 298500, 300500, 300958, 302292, 301541, 303333, 297625, 294459, 298250, 302667, 295417, 299833, 299625, 301250, 299875, 308625, 375417, 317167, 310500, 304625, 298625, 311667, 301708, 307875, 295208, 299375, 291167, 289917, 289250, 289459, 289875, 294167, 301625, 300667, 296208, 298041, 299959, 293583, 304959, 295042, 297000, 288541, 288250, 290291, 288792, 287834, 292834, 290333, 288959, 293625, 319709, 293459, 291375, 292750, 296334, 293666, 291209, 305708, 291750, 293375, 291625, 292083, 296000, 300334 ] }, { "case_id": "native-fresh-02-moving_alias", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336144828e-06, "upper": 2.046823336144828e-06 }, "observed": 2.046823336144828e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12, "upper": 0.12 }, "observed": 0.12, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805238756817e-07, "upper": 1.0856805238756817e-07 }, "observed": 1.0856805238756817e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965562285730655e-09, "upper": 2.1965562285730655e-09 }, "observed": 2.1965562285730655e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "linear_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 310208, 298291, 295958, 309667, 299333, 303042, 291333, 291292, 318292, 292875, 291041, 290917, 291917, 300042, 298584, 292708, 294958, 295000, 295709, 296125, 289750, 297250, 305708, 291959, 293125, 299959, 292417, 304292, 297959, 300000, 301833, 294958, 289583, 294375, 293958, 298833, 297208, 298084, 293292, 294541, 298833, 292209, 304083, 299084, 297458, 300125, 298084, 293083, 305333, 300959, 300084, 304375, 292500, 297375, 365417, 310875, 296083, 314125, 293000, 297375, 291000, 302166, 291667, 292458, 295708, 289209, 288500, 293125, 294000, 290666, 292709, 292125, 292208, 291833, 290750, 294792, 306042, 293334, 301250, 293833, 295042, 291792, 291875, 290750, 291166, 294500, 291000, 312500, 301459, 293250, 291834, 292250, 291708, 293083, 292125, 291417, 295125, 293500, 294875, 295334 ] }, { "case_id": "native-fresh-02-occluded", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336144828e-06, "upper": 2.046823336144828e-06 }, "observed": 2.046823336144828e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091146452e-06, "upper": 1.0577925091146452e-06 }, "observed": 1.0577925091146452e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805238756817e-07, "upper": 1.0856805238756817e-07 }, "observed": 1.0856805238756817e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965562285730655e-09, "upper": 2.1965562285730655e-09 }, "observed": 2.1965562285730655e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 299708, 292667, 296042, 289250, 290084, 289583, 294667, 292416, 296042, 295417, 297375, 290792, 294959, 290792, 291667, 290334, 291041, 292167, 293041, 298083, 291959, 292208, 290041, 291125, 295584, 297292, 295375, 291417, 301709, 293209, 291542, 290792, 289917, 291083, 291416, 293083, 291417, 289458, 295584, 289625, 291625, 291375, 295625, 293250, 319209, 295667, 296500, 296958, 297292, 293542, 292125, 291500, 298042, 296125, 293125, 315500, 393958, 305125, 291208, 290250, 289375, 298291, 298916, 291750, 291125, 292208, 295500, 292625, 292125, 291125, 290209, 288375, 290125, 288209, 288708, 290542, 295416, 317375, 297084, 292417, 290833, 290916, 289708, 290250, 292583, 293917, 291875, 289583, 289000, 289375, 288167, 288250, 287542, 288833, 288625, 292333, 290250, 288542, 291667, 289667 ] }, { "case_id": "native-fresh-03-complete", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336076708e-06, "upper": 2.046823336076708e-06 }, "observed": 2.046823336076708e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091051129e-06, "upper": 1.0577925091051129e-06 }, "observed": 1.0577925091051129e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.085680522576776e-07, "upper": 1.085680522576776e-07 }, "observed": 1.085680522576776e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965561453063387e-09, "upper": 2.1965561453063387e-09 }, "observed": 2.1965561453063387e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 297334, 296584, 295959, 303417, 293625, 291291, 291208, 292500, 298000, 298792, 295833, 294750, 288250, 287791, 287750, 287250, 297000, 298208, 291958, 293041, 291750, 290083, 289292, 287167, 286666, 296125, 292125, 288917, 292334, 290625, 292584, 291708, 290542, 291250, 320458, 308250, 294958, 293584, 296000, 297792, 293208, 290208, 299250, 288833, 288833, 293958, 303000, 296666, 298917, 299833, 302250, 297750, 294625, 303541, 386250, 312667, 308375, 297000, 304416, 295000, 290542, 306584, 296625, 292083, 288791, 313084, 296125, 302667, 296208, 295208, 303125, 297542, 296958, 292375, 295791, 293625, 298208, 296250, 295042, 293167, 311625, 295000, 298583, 306583, 300166, 295417, 296084, 295167, 295917, 294334, 296792, 292750, 296500, 298375, 295208, 294333, 297209, 297584, 296958, 299750 ] }, { "case_id": "native-fresh-03-missing_target", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 172875, 164834, 173333, 166250, 179250, 237375, 173542, 167583, 170791, 175417, 164750, 164583, 171833, 164959, 164208, 166500, 164709, 164833, 164375, 178917, 164583, 164334, 164459, 165583, 165959, 164333, 163167, 164083, 164375, 165750, 164084, 163500, 164875, 164375, 167250, 164667, 164583, 163875, 163500, 164875, 164167, 162417, 163958, 163167, 163958, 165042, 164042, 165541, 164209, 168625, 164500, 165000, 163458, 163875, 166125, 163958, 163709, 164250, 163292, 164625, 163208, 164000, 163542, 163292, 165208, 162708, 163917, 164042, 163917, 165667, 163500, 164375, 164583, 164500, 167333, 164417, 164167, 165083, 164167, 166417, 163042, 163167, 163042, 162583, 165416, 163125, 162500, 162666, 167166, 166083, 165500, 165125, 165375, 166042, 166917, 163500, 164959, 165375, 165167, 165792 ] }, { "case_id": "native-fresh-03-wrong_object", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 164333, 164542, 163167, 167959, 164792, 170458, 164583, 163459, 166916, 164209, 162833, 162334, 163958, 163917, 162834, 163500, 164250, 166250, 163958, 164459, 164291, 163666, 164750, 162833, 162875, 163709, 163667, 164291, 166125, 164916, 164584, 164625, 163833, 164500, 164416, 163250, 162916, 164166, 163709, 163000, 163417, 163000, 161625, 162708, 163000, 161417, 172500, 171500, 163375, 164083, 163500, 164250, 163167, 163375, 162416, 164375, 163792, 162125, 164166, 162709, 162958, 163625, 162667, 161542, 163167, 164125, 162708, 165667, 166083, 165542, 165125, 164041, 163375, 164208, 164542, 163750, 165208, 164333, 162583, 164625, 163667, 163000, 163584, 163333, 163250, 163709, 163750, 166084, 163708, 162791, 169875, 208666, 206625, 168166, 167500, 166042, 163000, 175125, 165417, 162500 ] }, { "case_id": "native-fresh-03-wrong_position", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233361216805e-06, "upper": 2.0468233361216805e-06 }, "observed": 2.0468233361216805e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091044494e-06, "upper": 1.0577925091044494e-06 }, "observed": 1.0577925091044494e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429892478866077, "upper": 0.29429892478866077 }, "observed": 0.29429892478866077, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.16999998090480983, "upper": 0.16999998090480983 }, "observed": 0.16999998090480983, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965561453063387e-09, "upper": 2.1965561453063387e-09 }, "observed": 2.1965561453063387e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 290000, 290833, 289041, 297583, 290333, 289375, 291667, 289667, 288291, 287417, 287541, 287917, 288167, 287542, 288500, 288125, 286791, 290416, 319208, 296334, 299625, 298833, 295458, 295291, 293791, 294042, 291000, 290834, 292459, 293959, 292875, 292667, 292375, 293166, 296583, 293542, 290250, 297083, 295583, 294625, 294334, 321000, 398708, 307125, 297667, 292000, 291458, 295250, 297084, 289750, 295041, 320708, 298334, 291125, 296709, 297375, 295625, 295416, 294166, 292209, 291750, 291542, 290917, 289875, 290584, 291083, 292459, 290250, 295792, 293625, 295208, 297333, 294375, 302000, 312250, 294000, 290958, 291541, 291583, 292625, 290750, 289916, 290375, 290667, 290750, 316708, 296042, 295041, 295750, 296459, 295375, 297292, 293000, 291042, 291041, 290625, 299000, 413000, 305000, 306916 ] }, { "case_id": "native-fresh-03-wrong_orientation", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336210299e-06, "upper": 2.046823336210299e-06 }, "observed": 2.046823336210299e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090771076e-06, "upper": 1.0577925090771076e-06 }, "observed": 1.0577925090771076e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886614, "upper": 0.2942989247886614 }, "observed": 0.2942989247886614, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805218744015e-07, "upper": 1.0856805218744015e-07 }, "observed": 1.0856805218744015e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.5707963245985554, "upper": 1.5707963245985554 }, "observed": 1.5707963245985554, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 293209, 303750, 296750, 296375, 297375, 305250, 297834, 299250, 300209, 301792, 308125, 293625, 298334, 300500, 299375, 298500, 305833, 302292, 302625, 298750, 307792, 304916, 308416, 297250, 300334, 298791, 300166, 296000, 302500, 303291, 308500, 301958, 300000, 303542, 304500, 293667, 293167, 297125, 309125, 391166, 734042, 444333, 315792, 316875, 301709, 298584, 316458, 306750, 298375, 297708, 301959, 302917, 302292, 305583, 291250, 316833, 297042, 302000, 294041, 295625, 300375, 301875, 297916, 293083, 291750, 296458, 293542, 292375, 296500, 292583, 291458, 325167, 308458, 303209, 305542, 312625, 301333, 304000, 297667, 309917, 305625, 299834, 302583, 300292, 300500, 304791, 300375, 344042, 338125, 293875, 296458, 294916, 293000, 318125, 299417, 304167, 413334, 327875, 305750, 308458 ] }, { "case_id": "native-fresh-03-unreleased", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.005743578753060712, "upper": 0.005743578753060712 }, "observed": 0.005743578753060712, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 8.342006185597791e-05, "upper": 8.342006185597791e-05 }, "observed": 8.342006185597791e-05, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.7611516480518802, "upper": 0.7611516480518802 }, "observed": 0.7611516480518802, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.3127181150141005, "upper": 0.3127181150141005 }, "observed": 0.3127181150141005, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0018213926768696966, "upper": 0.0018213926768696966 }, "observed": 0.0018213926768696966, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0321548938920233, "upper": 0.0321548938920233 }, "observed": 0.0321548938920233, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.19999999999997797, "evaluated_end_s": 6.799999999999473, "evaluated_sample_count": 100, "evaluated_start_s": 6.599999999999495, "newest_t_s": 6.799999999999473, "source_sample_count": 100 } }, "timing_ns": [ 305458, 295875, 290750, 308667, 308084, 295583, 305792, 305584, 299542, 306833, 303959, 310250, 303834, 302000, 299792, 295083, 303291, 304000, 299458, 313208, 299541, 296541, 302542, 307250, 301708, 333500, 306083, 314625, 295541, 307666, 313875, 313792, 328959, 322292, 327541, 314459, 301333, 298125, 396833, 318958, 295917, 304500, 296875, 297833, 297000, 308958, 307334, 299875, 296833, 306333, 307792, 316334, 309541, 304084, 301042, 307583, 301458, 304917, 306292, 291833, 294334, 291708, 294458, 290291, 293167, 321166, 309750, 307083, 299834, 299250, 295917, 319709, 298417, 307375, 298250, 292416, 299375, 292333, 295166, 299958, 305125, 294375, 299167, 297209, 299833, 389709, 322375, 316916, 306208, 303417, 300416, 290583, 291208, 299667, 291083, 318334, 310625, 301417, 300291, 291083 ] }, { "case_id": "native-fresh-03-moving_alias", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336076708e-06, "upper": 2.046823336076708e-06 }, "observed": 2.046823336076708e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12, "upper": 0.12 }, "observed": 0.12, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.085680522576776e-07, "upper": 1.085680522576776e-07 }, "observed": 1.085680522576776e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965561453063387e-09, "upper": 2.1965561453063387e-09 }, "observed": 2.1965561453063387e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "linear_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 308917, 304458, 299875, 306417, 300416, 301417, 316416, 308792, 299250, 313125, 305500, 299959, 312625, 293542, 296500, 294500, 292208, 306750, 297333, 305958, 302042, 307167, 307416, 308750, 298292, 306584, 313334, 294625, 310416, 297875, 301958, 303792, 308542, 305083, 387584, 320000, 306708, 309041, 295750, 309167, 297458, 306584, 290916, 293750, 301000, 291667, 356791, 301791, 299416, 304583, 298042, 297541, 298625, 301583, 292584, 301625, 299833, 297583, 302833, 298375, 293042, 298125, 289084, 293083, 305208, 302000, 304541, 327167, 309292, 295917, 301750, 305292, 302500, 299291, 302083, 300792, 297167, 301375, 296375, 295583, 301500, 298000, 302750, 296667, 291667, 292416, 290708, 289166, 315625, 387750, 302084, 299958, 299375, 302292, 297292, 301834, 301834, 302542, 302917, 299292 ] }, { "case_id": "native-fresh-03-occluded", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336076708e-06, "upper": 2.046823336076708e-06 }, "observed": 2.046823336076708e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091051129e-06, "upper": 1.0577925091051129e-06 }, "observed": 1.0577925091051129e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.085680522576776e-07, "upper": 1.085680522576776e-07 }, "observed": 1.085680522576776e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965561453063387e-09, "upper": 2.1965561453063387e-09 }, "observed": 2.1965561453063387e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 294458, 288125, 293875, 287791, 292208, 297958, 295667, 301083, 301208, 295917, 290750, 298000, 302375, 295584, 298042, 299875, 302167, 303500, 294834, 302125, 290250, 293833, 324500, 299292, 294458, 305750, 301042, 299250, 301167, 308959, 297125, 295667, 304458, 376167, 313042, 305291, 294417, 293167, 313334, 310208, 304208, 295375, 305000, 306750, 301166, 297125, 301834, 301125, 305167, 301333, 294417, 294042, 295250, 292250, 298250, 314625, 298083, 302417, 298583, 299750, 290084, 294542, 296375, 296125, 294250, 303417, 303917, 299167, 294375, 296417, 299500, 293000, 290541, 309125, 289166, 295584, 298958, 297000, 298208, 303167, 288792, 291291, 289625, 301875, 298167, 294417, 313625, 316666, 379666, 301416, 298750, 297542, 307458, 293917, 305750, 301458, 301334, 298208, 307541, 295459 ] }, { "case_id": "native-fresh-04-complete", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233362159167e-06, "upper": 2.0468233362159167e-06 }, "observed": 2.0468233362159167e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091201562e-06, "upper": 1.0577925091201562e-06 }, "observed": 1.0577925091201562e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429892478866115, "upper": 0.29429892478866115 }, "observed": 0.29429892478866115, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08568052346597e-07, "upper": 1.08568052346597e-07 }, "observed": 1.08568052346597e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556117550763e-09, "upper": 2.196556117550763e-09 }, "observed": 2.196556117550763e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 288208, 303458, 294416, 294375, 303333, 298750, 297416, 292500, 300292, 303042, 299875, 326792, 296459, 295709, 304416, 306500, 306459, 298250, 299250, 299709, 302250, 298000, 302834, 305500, 303875, 307750, 303833, 300333, 295584, 296167, 292334, 301375, 378333, 316834, 311250, 290375, 301917, 304459, 303834, 298334, 301625, 299791, 306583, 320042, 295625, 290042, 294208, 288667, 293667, 287958, 295250, 300167, 291542, 297375, 290875, 295667, 289833, 291250, 289625, 297333, 292916, 289625, 290333, 291583, 290708, 288375, 289041, 305875, 290584, 289625, 300416, 294708, 293584, 289958, 289916, 306084, 290458, 319792, 307625, 301375, 298209, 295791, 297417, 292042, 294917, 299500, 296625, 383500, 317750, 308250, 318459, 317834, 296875, 294042, 307208, 305083, 309500, 301750, 300833, 297041 ] }, { "case_id": "native-fresh-04-missing_target", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 163458, 167916, 164292, 172083, 174375, 170084, 166083, 187958, 168375, 171083, 174125, 167084, 170250, 165958, 176500, 176959, 165833, 167291, 165959, 170791, 169750, 173416, 165250, 166041, 168167, 167125, 167250, 179417, 169916, 175917, 175250, 166459, 166334, 166417, 167125, 166292, 167458, 166792, 167250, 168084, 167917, 165583, 166709, 173542, 166833, 165459, 165875, 166708, 166709, 168750, 167042, 167042, 167709, 166417, 169209, 166584, 165375, 165625, 165667, 167042, 166042, 166583, 166083, 179375, 188375, 250417, 171166, 174875, 172250, 170167, 166042, 165792, 165625, 167875, 170500, 165375, 176542, 164708, 165833, 168209, 168375, 166292, 163208, 164209, 165167, 164542, 164334, 165541, 165667, 165542, 164458, 164166, 163583, 164041, 168958, 165583, 164750, 163875, 163959, 166000 ] }, { "case_id": "native-fresh-04-wrong_object", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 164167, 165667, 165333, 165500, 172959, 172250, 171208, 169708, 168167, 170750, 169875, 164875, 171625, 169875, 198334, 169417, 168541, 170292, 165875, 165708, 167583, 169458, 164792, 169875, 169292, 168208, 170375, 171500, 167458, 165875, 168000, 169583, 166000, 170750, 181125, 170542, 169500, 167792, 169000, 164625, 169917, 165459, 165041, 164375, 165000, 167042, 166750, 166458, 165042, 165666, 175167, 167291, 170042, 167875, 171041, 182042, 260166, 182083, 173208, 172583, 170708, 166000, 171917, 170000, 174625, 167917, 174459, 166875, 165500, 165500, 164000, 168875, 187917, 168959, 166625, 168792, 166625, 172625, 171625, 174958, 168000, 166542, 170000, 167125, 168042, 167000, 167042, 170208, 165875, 167500, 166042, 166125, 173125, 167708, 166459, 165834, 166625, 167208, 166417, 171834 ] }, { "case_id": "native-fresh-04-wrong_position", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336067444e-06, "upper": 2.046823336067444e-06 }, "observed": 2.046823336067444e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091242696e-06, "upper": 1.0577925091242696e-06 }, "observed": 1.0577925091242696e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429892478866115, "upper": 0.29429892478866115 }, "observed": 0.29429892478866115, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.16999998090887075, "upper": 0.16999998090887075 }, "observed": 0.16999998090887075, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556110611869e-09, "upper": 2.196556110611869e-09 }, "observed": 2.196556110611869e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 296709, 297167, 293750, 295375, 294875, 293917, 300166, 316667, 295583, 296417, 297500, 290083, 295958, 292333, 294209, 295083, 301958, 305417, 305792, 378334, 308125, 323125, 307375, 302084, 294333, 300834, 302750, 298042, 291541, 292916, 292166, 291291, 291834, 292583, 295209, 292000, 290833, 302041, 300041, 298125, 305708, 292000, 293459, 300209, 302167, 297167, 292541, 298083, 295792, 300125, 287667, 292875, 303584, 300792, 307500, 305125, 300500, 306875, 302250, 298250, 292334, 298583, 301000, 304792, 312375, 316292, 317459, 326583, 326458, 302458, 311333, 799084, 380667, 333209, 314291, 301708, 302666, 305750, 304042, 298833, 300625, 296334, 296375, 323542, 304334, 311417, 303666, 307292, 311833, 302834, 299250, 313125, 298500, 298625, 298750, 301625, 298917, 297708, 294250, 300042 ] }, { "case_id": "native-fresh-04-wrong_orientation", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336110905e-06, "upper": 2.046823336110905e-06 }, "observed": 2.046823336110905e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090731552e-06, "upper": 1.0577925090731552e-06 }, "observed": 1.0577925090731552e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429892478866126, "upper": 0.29429892478866126 }, "observed": 0.29429892478866126, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805227146977e-07, "upper": 1.0856805227146977e-07 }, "observed": 1.0856805227146977e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.570796324598556, "upper": 1.570796324598556 }, "observed": 1.570796324598556, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 306666, 302584, 306708, 308417, 306458, 315167, 308042, 304958, 307791, 303291, 305042, 302959, 310250, 431917, 321458, 308500, 308958, 309333, 306708, 306166, 308750, 300958, 305167, 307333, 303833, 303417, 310041, 314667, 336208, 306250, 313958, 304167, 305208, 308042, 304667, 305625, 304834, 302041, 301792, 298083, 298834, 303333, 298584, 312459, 299125, 310166, 314417, 304959, 310959, 300916, 295542, 301833, 298958, 306833, 303125, 307000, 302375, 310208, 299375, 303875, 297708, 353917, 409625, 317708, 308041, 305292, 310250, 302792, 308375, 307333, 296791, 311750, 307375, 307541, 306709, 305709, 303959, 307292, 298333, 302333, 304458, 312500, 301750, 296791, 303375, 303708, 314209, 296000, 294916, 295667, 299042, 300333, 298875, 319667, 320958, 306708, 305208, 305500, 298083, 301292 ] }, { "case_id": "native-fresh-04-unreleased", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0009327419451410331, "upper": 0.0009327419451410331 }, "observed": 0.0009327419451410331, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.00018503931064948738, "upper": 0.00018503931064948738 }, "observed": 0.00018503931064948738, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.7613896695953584, "upper": 0.7613896695953584 }, "observed": 0.7613896695953584, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.3355857866879318, "upper": 0.3355857866879318 }, "observed": 0.3355857866879318, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0004862455797207916, "upper": 0.0004862455797207916 }, "observed": 0.0004862455797207916, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0006460950707064331, "upper": 0.0006460950707064331 }, "observed": 0.0006460950707064331, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.19999999999997797, "evaluated_end_s": 6.799999999999473, "evaluated_sample_count": 100, "evaluated_start_s": 6.599999999999495, "newest_t_s": 6.799999999999473, "source_sample_count": 100 } }, "timing_ns": [ 299208, 295916, 295500, 297292, 296750, 291709, 295750, 293750, 303042, 310250, 420375, 334708, 319000, 309000, 302875, 335125, 314042, 297167, 318542, 300666, 300042, 297000, 295792, 296416, 302958, 304125, 300417, 293500, 309333, 303000, 299417, 300333, 297291, 298042, 297792, 297750, 299208, 290333, 297959, 288958, 292708, 290250, 292000, 290041, 289208, 289167, 289834, 295000, 296000, 295208, 292083, 289458, 289959, 288209, 289250, 290583, 289625, 295459, 290167, 289583, 289458, 289500, 303875, 295417, 305625, 384750, 306916, 308750, 296750, 300209, 296417, 292458, 290792, 293875, 289000, 292583, 294084, 291208, 289042, 289833, 289333, 288084, 289750, 289791, 293208, 292083, 291834, 292000, 290000, 290416, 290083, 290667, 289209, 290625, 290292, 290792, 289875, 288250, 310625, 299833 ] }, { "case_id": "native-fresh-04-moving_alias", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233362159167e-06, "upper": 2.0468233362159167e-06 }, "observed": 2.0468233362159167e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12, "upper": 0.12 }, "observed": 0.12, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429892478866115, "upper": 0.29429892478866115 }, "observed": 0.29429892478866115, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08568052346597e-07, "upper": 1.08568052346597e-07 }, "observed": 1.08568052346597e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556117550763e-09, "upper": 2.196556117550763e-09 }, "observed": 2.196556117550763e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "linear_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 289375, 295917, 289458, 289833, 288459, 290000, 290042, 289834, 298292, 299625, 389083, 310500, 313542, 293708, 299042, 297416, 292250, 296875, 297750, 293250, 296667, 319708, 294583, 297000, 292916, 294625, 299333, 296084, 300208, 296417, 295500, 295667, 291667, 295542, 295292, 296208, 295875, 301667, 296834, 295959, 293083, 297083, 292750, 292458, 290709, 295083, 294625, 295958, 293542, 295333, 292833, 294875, 294459, 296208, 313333, 311333, 302250, 304958, 303209, 294542, 298083, 297000, 290583, 294333, 308250, 372417, 303666, 307417, 302416, 309291, 294375, 301542, 295125, 299166, 297333, 294708, 294583, 297125, 293750, 292833, 298541, 297166, 305041, 298500, 303958, 297416, 299125, 322209, 311250, 305875, 325000, 299000, 305750, 301042, 301417, 303750, 305750, 299125, 304042, 300708 ] }, { "case_id": "native-fresh-04-occluded", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233362159167e-06, "upper": 2.0468233362159167e-06 }, "observed": 2.0468233362159167e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091201562e-06, "upper": 1.0577925091201562e-06 }, "observed": 1.0577925091201562e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429892478866115, "upper": 0.29429892478866115 }, "observed": 0.29429892478866115, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08568052346597e-07, "upper": 1.08568052346597e-07 }, "observed": 1.08568052346597e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556117550763e-09, "upper": 2.196556117550763e-09 }, "observed": 2.196556117550763e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 300833, 296750, 298750, 295417, 295334, 296042, 297292, 296083, 307750, 373875, 313792, 308250, 303791, 299417, 289333, 298500, 291834, 304375, 291959, 299417, 297083, 295792, 295125, 296542, 292042, 300500, 299959, 302000, 302916, 295791, 292084, 295916, 299041, 291959, 299542, 296459, 300667, 294000, 301000, 295292, 292792, 299875, 293833, 321959, 304958, 305000, 308125, 306333, 296291, 299083, 293500, 294375, 294125, 293583, 296333, 293541, 296083, 297833, 294834, 294916, 294916, 293541, 295375, 296916, 304958, 303167, 324083, 393625, 312000, 293625, 295625, 297708, 292542, 293167, 293583, 291625, 318792, 294167, 292583, 291875, 289667, 290958, 292958, 295583, 295375, 293625, 293959, 292250, 288625, 292000, 289292, 291667, 289792, 288833, 289958, 295209, 291500, 290917, 291167, 289333 ] }, { "case_id": "native-fresh-05-complete", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233361822243e-06, "upper": 2.0468233361822243e-06 }, "observed": 2.0468233361822243e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.057792509073021e-06, "upper": 1.057792509073021e-06 }, "observed": 1.057792509073021e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805238887924e-07, "upper": 1.0856805238887924e-07 }, "observed": 1.0856805238887924e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19655632571758e-09, "upper": 2.19655632571758e-09 }, "observed": 2.19655632571758e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 292125, 291667, 292042, 296959, 295417, 296125, 295709, 292041, 305709, 299458, 299959, 315583, 353750, 295833, 294500, 296250, 299958, 298792, 299625, 293208, 291917, 303083, 305959, 294333, 291750, 290875, 293625, 295250, 292167, 299167, 290916, 294333, 294875, 293542, 291792, 297917, 291542, 290916, 293125, 291709, 292250, 295916, 293750, 294875, 294875, 323958, 301875, 299542, 298500, 299041, 295709, 297667, 297250, 296750, 294584, 296375, 295334, 295333, 295917, 298125, 297959, 295125, 292500, 295292, 311541, 383333, 298875, 308625, 307916, 301541, 294542, 296292, 293666, 293791, 295583, 294833, 296334, 295792, 295000, 295334, 295209, 294250, 296667, 294000, 293459, 293917, 294625, 294167, 294042, 293667, 295750, 295042, 295000, 293792, 298208, 294458, 293958, 293625, 297792, 297375 ] }, { "case_id": "native-fresh-05-missing_target", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 166834, 166667, 164958, 166958, 166583, 166292, 166000, 166667, 165334, 171375, 192416, 169417, 168167, 166208, 167791, 167417, 169125, 167500, 167334, 168000, 168542, 168041, 168500, 170334, 173292, 192166, 238000, 174167, 173917, 174500, 175250, 168042, 167125, 165833, 167375, 170750, 167375, 170167, 175000, 168917, 175958, 167625, 168625, 167625, 168208, 167417, 166625, 167875, 167625, 167209, 167625, 166500, 167042, 166666, 167709, 167291, 167625, 166792, 168625, 167750, 167250, 167958, 168250, 167000, 167834, 167667, 167208, 166875, 169542, 168750, 168292, 168708, 166375, 165667, 167709, 166875, 167500, 167042, 166708, 167792, 167709, 166167, 166500, 166417, 167417, 167208, 167250, 165791, 166584, 167250, 166458, 165875, 166500, 167000, 167625, 167167, 167042, 166167, 166000, 166750 ] }, { "case_id": "native-fresh-05-wrong_object", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 164834, 165125, 166125, 166167, 165958, 165833, 166125, 165583, 166459, 165834, 166042, 179750, 231416, 174500, 172666, 164709, 176792, 168584, 164666, 166584, 170459, 166958, 166084, 176166, 170500, 165209, 166625, 165250, 165708, 165750, 165250, 166125, 166917, 166042, 165958, 165333, 167875, 164541, 165458, 167500, 166792, 166250, 166208, 165958, 166833, 165917, 167583, 165250, 165250, 166459, 165417, 165625, 165042, 164833, 165708, 164709, 165875, 165500, 164750, 166834, 165833, 165875, 166125, 165750, 165500, 164542, 165708, 165500, 167916, 179125, 165958, 165750, 191166, 169666, 168292, 166500, 166291, 166209, 165834, 166042, 165542, 165792, 165417, 165042, 167292, 165208, 166083, 165375, 165333, 167458, 165500, 165334, 169667, 164125, 165791, 164500, 165416, 165208, 165083, 164834 ] }, { "case_id": "native-fresh-05-wrong_position", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336092651e-06, "upper": 2.046823336092651e-06 }, "observed": 2.046823336092651e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090790175e-06, "upper": 1.0577925090790175e-06 }, "observed": 1.0577925090790175e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886608, "upper": 0.2942989247886608 }, "observed": 0.2942989247886608, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.16999998611448228, "upper": 0.16999998611448228 }, "observed": 0.16999998611448228, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19655632571758e-09, "upper": 2.19655632571758e-09 }, "observed": 2.19655632571758e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 299458, 296584, 294041, 297792, 293167, 292375, 294708, 291792, 291125, 292041, 290833, 290000, 291250, 290375, 290750, 290083, 289459, 295458, 293167, 291167, 294250, 304250, 299334, 301542, 290459, 291417, 290292, 290458, 292292, 293958, 292667, 292167, 289292, 293292, 303375, 297834, 300375, 309709, 294458, 294792, 320208, 300250, 292000, 291333, 290125, 292041, 290625, 290792, 290208, 291084, 298666, 392583, 299542, 308917, 299083, 302500, 294708, 299334, 292792, 292000, 297584, 290166, 291167, 290750, 291000, 291417, 291375, 291417, 293875, 290667, 294334, 294625, 293792, 293041, 294208, 291208, 290417, 290500, 292333, 291667, 296167, 296750, 299250, 298875, 297791, 293833, 291375, 310166, 304083, 292833, 300208, 302208, 298583, 309542, 292708, 295542, 295375, 293625, 293041, 297209 ] }, { "case_id": "native-fresh-05-wrong_orientation", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336175048e-06, "upper": 2.046823336175048e-06 }, "observed": 2.046823336175048e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091167826e-06, "upper": 1.0577925091167826e-06 }, "observed": 1.0577925091167826e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429892478866115, "upper": 0.29429892478866115 }, "observed": 0.29429892478866115, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805225659783e-07, "upper": 1.0856805225659783e-07 }, "observed": 1.0856805225659783e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.570796324598556, "upper": 1.570796324598556 }, "observed": 1.570796324598556, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 296000, 302458, 303875, 298042, 307917, 294667, 304000, 305584, 303125, 306000, 301708, 294958, 297792, 288417, 302667, 306958, 306459, 296625, 295042, 290333, 289083, 306125, 299000, 298625, 304125, 304291, 310000, 305083, 299459, 305292, 300042, 288416, 296541, 301125, 305375, 307417, 297667, 298541, 300750, 299292, 300959, 300542, 304167, 305459, 303042, 301916, 295583, 294167, 291792, 299792, 392292, 326333, 315500, 315625, 303208, 305709, 301250, 298291, 295417, 298958, 298375, 304917, 303083, 297500, 300750, 301791, 298667, 293750, 299334, 300792, 305833, 300583, 299125, 298125, 293375, 295666, 295084, 299000, 303334, 296792, 299625, 302541, 299667, 327959, 304625, 302708, 298917, 303375, 303083, 316750, 299333, 305875, 305000, 296041, 296375, 297625, 305792, 294333, 300000, 297709 ] }, { "case_id": "native-fresh-05-unreleased", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.005021836159489965, "upper": 0.005021836159489965 }, "observed": 0.005021836159489965, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 8.43565121019971e-05, "upper": 8.43565121019971e-05 }, "observed": 8.43565121019971e-05, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.766588246698086, "upper": 0.766588246698086 }, "observed": 0.766588246698086, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.32848759624755824, "upper": 0.32848759624755824 }, "observed": 0.32848759624755824, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0007963048902783879, "upper": 0.0007963048902783879 }, "observed": 0.0007963048902783879, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.021337547228718334, "upper": 0.021337547228718334 }, "observed": 0.021337547228718334, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.19999999999997797, "evaluated_end_s": 6.799999999999473, "evaluated_sample_count": 100, "evaluated_start_s": 6.599999999999495, "newest_t_s": 6.799999999999473, "source_sample_count": 100 } }, "timing_ns": [ 303958, 313583, 303250, 301541, 303375, 323959, 295000, 298292, 303292, 293833, 302709, 297917, 294417, 292875, 292125, 292333, 293708, 291417, 291250, 298334, 290875, 291917, 289667, 296167, 297209, 299250, 293625, 293792, 300917, 302666, 307584, 302833, 298667, 299292, 299125, 298375, 299291, 299083, 329292, 304959, 296125, 298750, 301292, 298166, 298584, 290291, 292625, 305250, 309750, 305375, 309708, 422500, 304833, 291417, 303792, 307083, 301375, 305291, 303333, 298166, 295375, 303833, 300291, 307125, 301875, 305084, 300208, 298000, 303500, 300292, 307750, 326625, 302000, 299875, 300833, 297958, 303791, 296750, 295916, 298958, 299959, 306958, 300125, 293166, 300292, 300083, 306000, 308834, 305958, 299417, 290958, 291042, 290542, 294500, 296125, 296875, 296750, 295125, 290792, 296875 ] }, { "case_id": "native-fresh-05-moving_alias", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233361822243e-06, "upper": 2.0468233361822243e-06 }, "observed": 2.0468233361822243e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12, "upper": 0.12 }, "observed": 0.12, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805238887924e-07, "upper": 1.0856805238887924e-07 }, "observed": 1.0856805238887924e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19655632571758e-09, "upper": 2.19655632571758e-09 }, "observed": 2.19655632571758e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "linear_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 306333, 297833, 300542, 309083, 302541, 301000, 299333, 297041, 296958, 297708, 295041, 297667, 298416, 301000, 307917, 306375, 308458, 295000, 297416, 303792, 297500, 308083, 306750, 309958, 302792, 308375, 294834, 295833, 295208, 290625, 289916, 303541, 294083, 298417, 308333, 300542, 295834, 296250, 299000, 297917, 301500, 307250, 308666, 293834, 299125, 307875, 307667, 393625, 316208, 307250, 321333, 300459, 298750, 295417, 296792, 291917, 291875, 299625, 304666, 296125, 294750, 302916, 300875, 294333, 306541, 306500, 294709, 292750, 296333, 295459, 296584, 295000, 294458, 299500, 306458, 297417, 301500, 306583, 298000, 304875, 304666, 305250, 300417, 304750, 294459, 295333, 291917, 297958, 299250, 298000, 295500, 295084, 296833, 298750, 299042, 302875, 306709, 301250, 300250, 302333 ] }, { "case_id": "native-fresh-05-occluded", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233361822243e-06, "upper": 2.0468233361822243e-06 }, "observed": 2.0468233361822243e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.057792509073021e-06, "upper": 1.057792509073021e-06 }, "observed": 1.057792509073021e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805238887924e-07, "upper": 1.0856805238887924e-07 }, "observed": 1.0856805238887924e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19655632571758e-09, "upper": 2.19655632571758e-09 }, "observed": 2.19655632571758e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 307000, 300416, 307750, 306417, 291917, 298125, 291000, 302166, 299250, 323750, 305750, 293209, 291958, 296458, 295125, 302917, 292459, 296958, 294125, 308167, 306708, 299083, 331833, 303959, 297125, 296500, 294333, 297042, 299292, 297459, 313541, 298250, 306500, 296083, 298125, 295333, 301542, 298125, 305542, 301500, 299375, 301459, 298333, 290792, 302667, 322459, 434542, 301375, 298833, 297292, 296417, 293459, 301583, 300417, 293417, 294125, 291458, 295875, 292333, 292375, 300166, 293292, 296209, 296209, 296792, 295208, 294917, 300167, 309333, 298292, 300584, 297375, 295250, 298083, 293541, 300292, 296459, 294875, 297458, 295375, 300875, 295083, 297167, 312584, 297458, 303250, 296333, 296125, 294042, 329458, 296083, 297375, 295459, 294584, 301209, 303875, 296625, 295167, 292083, 295917 ] }, { "case_id": "native-fresh-06-complete", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336062748e-06, "upper": 2.046823336062748e-06 }, "observed": 2.046823336062748e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.05779250913092e-06, "upper": 1.05779250913092e-06 }, "observed": 1.05779250913092e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886611, "upper": 0.2942989247886611 }, "observed": 0.2942989247886611, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805236948894e-07, "upper": 1.0856805236948894e-07 }, "observed": 1.0856805236948894e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556110611869e-09, "upper": 2.196556110611869e-09 }, "observed": 2.196556110611869e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 319250, 307292, 304875, 314833, 317500, 303375, 301250, 294750, 311875, 300667, 328292, 315958, 306625, 302708, 299958, 303291, 297209, 330209, 294208, 303167, 305250, 299875, 303750, 306042, 308208, 301375, 295583, 295084, 294041, 295541, 308750, 304750, 295416, 295666, 297500, 295875, 309584, 311500, 313584, 315333, 308166, 304250, 299417, 332583, 396541, 304750, 328500, 302875, 316042, 297459, 304750, 301417, 295375, 299417, 304833, 303958, 300125, 300875, 315625, 310875, 306875, 310167, 305583, 307208, 311666, 306750, 300167, 307541, 297625, 299125, 299791, 301166, 303250, 303416, 297083, 308416, 291417, 298250, 302833, 295708, 293167, 302250, 302125, 302792, 306125, 308000, 300542, 319125, 306500, 297583, 296458, 306875, 302375, 301667, 293958, 295209, 303125, 301042, 385500, 317459 ] }, { "case_id": "native-fresh-06-missing_target", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 171209, 169084, 167000, 168458, 167792, 168459, 172084, 168708, 164792, 175625, 172417, 169792, 176417, 170792, 171667, 174000, 174458, 169333, 174417, 178583, 170917, 170458, 164875, 168292, 179833, 166375, 166791, 166042, 166166, 170500, 166958, 167083, 170709, 169125, 166375, 167917, 168417, 173167, 172000, 171792, 167833, 167292, 167000, 175083, 200334, 176292, 167458, 171709, 166917, 168291, 175583, 171209, 171083, 166958, 166417, 174583, 171125, 166250, 168709, 166500, 165167, 170125, 170166, 170709, 169208, 171667, 168750, 170334, 168375, 168416, 169666, 169583, 167959, 171792, 166750, 169458, 173333, 171542, 170458, 166875, 166750, 195958, 247583, 173375, 175000, 171167, 176625, 173833, 168708, 174167, 171375, 167000, 176584, 163459, 168333, 166667, 168916, 167167, 167875, 168500 ] }, { "case_id": "native-fresh-06-wrong_object", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 169417, 166458, 165625, 167125, 165000, 166083, 169584, 169625, 165375, 165375, 166709, 167166, 167084, 166750, 165791, 166375, 164541, 165917, 166709, 168417, 165583, 169583, 165333, 165333, 165667, 167541, 166500, 166375, 168792, 170000, 168291, 166375, 165417, 165583, 166417, 165917, 167500, 166375, 166333, 169250, 165000, 165541, 166209, 165875, 165542, 166416, 166792, 166042, 166541, 165750, 189000, 172417, 168458, 166875, 166375, 166833, 167500, 166584, 165708, 167209, 166250, 167708, 166417, 166750, 172708, 181208, 176833, 186667, 175208, 179959, 285250, 178625, 186375, 174959, 170958, 169709, 326500, 253292, 186375, 173000, 174750, 168459, 167333, 169917, 165625, 166167, 169792, 168708, 166083, 169084, 169375, 172416, 170333, 171834, 170708, 168792, 168375, 173166, 169375, 172709 ] }, { "case_id": "native-fresh-06-wrong_position", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233361073987e-06, "upper": 2.0468233361073987e-06 }, "observed": 2.0468233361073987e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091274288e-06, "upper": 1.0577925091274288e-06 }, "observed": 1.0577925091274288e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429892478866115, "upper": 0.29429892478866115 }, "observed": 0.29429892478866115, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.1699999730878256, "upper": 0.1699999730878256 }, "observed": 0.1699999730878256, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556110611869e-09, "upper": 2.196556110611869e-09 }, "observed": 2.196556110611869e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 304083, 300875, 304417, 302375, 298375, 301459, 296958, 298292, 299958, 296167, 295167, 296375, 291667, 300916, 292709, 298500, 293041, 298792, 297166, 302792, 314167, 307375, 305334, 298542, 306375, 298917, 327458, 438250, 314417, 302667, 307833, 305667, 300666, 299833, 300125, 296333, 295708, 298708, 301125, 298250, 303333, 295375, 295583, 298917, 302334, 294875, 296583, 298292, 295958, 294791, 296541, 295459, 301375, 295083, 299125, 293500, 298291, 296125, 313750, 303834, 297875, 301959, 302250, 301458, 300542, 300209, 307417, 299958, 308958, 302375, 308625, 306000, 302334, 302625, 304917, 300500, 304333, 302958, 303750, 340125, 299458, 297000, 356333, 464542, 317625, 311584, 304333, 312667, 305917, 301333, 303500, 300333, 302750, 297583, 295917, 298417, 297166, 302625, 306167, 299625 ] }, { "case_id": "native-fresh-06-wrong_orientation", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233360722066e-06, "upper": 2.0468233360722066e-06 }, "observed": 2.0468233360722066e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.057792509069717e-06, "upper": 1.057792509069717e-06 }, "observed": 1.057792509069717e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886608, "upper": 0.2942989247886608 }, "observed": 0.2942989247886608, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805207932379e-07, "upper": 1.0856805207932379e-07 }, "observed": 1.0856805207932379e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.5707963245985572, "upper": 1.5707963245985572 }, "observed": 1.5707963245985572, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 302666, 301167, 307459, 306583, 308583, 307958, 307625, 305000, 306834, 306708, 308959, 319333, 307334, 307375, 318208, 315750, 308667, 312917, 315875, 427583, 501791, 324959, 312000, 313125, 310875, 312542, 302042, 309333, 314458, 317250, 302750, 310375, 304959, 310250, 314625, 302375, 307208, 304958, 309625, 308541, 310458, 316333, 315334, 304750, 307084, 310209, 311500, 306834, 308667, 303291, 316875, 338750, 308083, 321291, 303333, 302708, 312583, 312500, 310791, 305458, 312084, 307875, 313500, 312666, 310125, 308916, 305417, 315958, 315167, 317875, 342875, 321333, 462584, 303916, 301042, 306583, 317708, 326708, 315833, 314042, 312791, 313042, 337542, 320583, 323792, 304334, 301083, 307541, 310417, 309083, 301875, 297417, 301959, 316000, 307666, 298583, 302167, 306625, 303000, 319083 ] }, { "case_id": "native-fresh-06-unreleased", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0071781709738160384, "upper": 0.0071781709738160384 }, "observed": 0.0071781709738160384, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.207327265153755e-05, "upper": 9.207327265153755e-05 }, "observed": 9.207327265153755e-05, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.757663437288401, "upper": 0.757663437288401 }, "observed": 0.757663437288401, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.3154102352660271, "upper": 0.3154102352660271 }, "observed": 0.3154102352660271, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.008519105706652444, "upper": 0.008519105706652444 }, "observed": 0.008519105706652444, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.11510978876609326, "upper": 0.11510978876609326 }, "observed": 0.11510978876609326, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.19999999999997797, "evaluated_end_s": 6.799999999999473, "evaluated_sample_count": 100, "evaluated_start_s": 6.599999999999495, "newest_t_s": 6.799999999999473, "source_sample_count": 100 } }, "timing_ns": [ 312542, 301041, 303667, 321500, 327917, 332833, 323750, 329917, 308333, 333250, 333750, 321167, 381334, 466458, 382084, 318000, 340125, 316250, 325542, 294792, 294125, 336875, 299333, 309125, 317042, 326666, 322250, 326250, 334958, 328166, 302459, 316625, 302292, 302708, 311000, 297334, 289250, 294125, 290125, 294500, 299500, 304709, 331167, 319833, 301833, 306125, 304375, 296708, 298875, 306625, 326375, 324458, 327584, 318000, 308667, 303416, 315750, 300459, 294375, 309417, 338375, 328709, 326958, 319417, 339792, 370125, 368750, 445375, 320000, 308166, 300583, 328375, 328333, 328042, 332083, 309167, 311500, 300333, 294583, 292125, 300708, 292500, 293292, 292583, 291833, 296916, 292625, 306250, 302625, 303917, 297083, 300667, 294709, 293792, 293417, 301584, 292958, 297958, 302500, 304875 ] }, { "case_id": "native-fresh-06-moving_alias", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336062748e-06, "upper": 2.046823336062748e-06 }, "observed": 2.046823336062748e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12, "upper": 0.12 }, "observed": 0.12, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886611, "upper": 0.2942989247886611 }, "observed": 0.2942989247886611, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805236948894e-07, "upper": 1.0856805236948894e-07 }, "observed": 1.0856805236948894e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556110611869e-09, "upper": 2.196556110611869e-09 }, "observed": 2.196556110611869e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "linear_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 292375, 295667, 303541, 301042, 299875, 297125, 302167, 297750, 295708, 315667, 380208, 305667, 302417, 288541, 295667, 293583, 291417, 288709, 291375, 296000, 287167, 290292, 332250, 306292, 301375, 302875, 297208, 299041, 299334, 305917, 310166, 300292, 289333, 291541, 293875, 291209, 291083, 293625, 309958, 292333, 295833, 299583, 299791, 298833, 294375, 297292, 295125, 292167, 295625, 294125, 289584, 289458, 289417, 292917, 292833, 293958, 291791, 292541, 292333, 291083, 291875, 291792, 292208, 293666, 296292, 323417, 399375, 317208, 292750, 291667, 293333, 291791, 302000, 295500, 291959, 293417, 293542, 299250, 302541, 308792, 316125, 312583, 341584, 341375, 351708, 404916, 351875, 376875, 419958, 419042, 420625, 417500, 430708, 410583, 412042, 307250, 302167, 310833, 299792, 300083 ] }, { "case_id": "native-fresh-06-occluded", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336062748e-06, "upper": 2.046823336062748e-06 }, "observed": 2.046823336062748e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.05779250913092e-06, "upper": 1.05779250913092e-06 }, "observed": 1.05779250913092e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886611, "upper": 0.2942989247886611 }, "observed": 0.2942989247886611, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805236948894e-07, "upper": 1.0856805236948894e-07 }, "observed": 1.0856805236948894e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556110611869e-09, "upper": 2.196556110611869e-09 }, "observed": 2.196556110611869e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 300666, 311125, 293334, 292416, 294458, 425167, 311833, 306125, 297542, 295333, 301000, 291083, 288584, 290667, 288458, 288542, 289375, 289084, 288708, 304125, 290958, 294625, 289458, 289375, 290000, 294166, 293292, 293375, 289166, 294500, 290250, 289042, 289833, 288458, 288542, 289458, 288834, 288708, 294750, 288542, 289375, 289583, 288875, 295666, 293541, 294083, 289875, 295958, 294125, 288958, 288959, 316042, 296166, 293958, 294084, 292375, 292750, 296541, 292375, 292916, 294250, 318292, 394167, 310041, 309750, 297125, 292417, 295750, 295833, 294625, 291500, 289584, 297459, 290916, 289250, 289750, 293708, 291084, 289875, 289250, 298083, 294750, 299958, 304208, 305459, 301250, 310417, 298667, 301208, 311167, 310375, 312042, 299500, 305500, 295500, 307375, 304583, 300833, 295875, 290208 ] }, { "case_id": "native-fresh-07-complete", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233360936945e-06, "upper": 2.0468233360936945e-06 }, "observed": 2.0468233360936945e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090941548e-06, "upper": 1.0577925090941548e-06 }, "observed": 1.0577925090941548e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429892478866126, "upper": 0.29429892478866126 }, "observed": 0.29429892478866126, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805235504176e-07, "upper": 1.0856805235504176e-07 }, "observed": 1.0856805235504176e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965561730619143e-09, "upper": 2.1965561730619143e-09 }, "observed": 2.1965561730619143e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 299375, 298917, 299500, 302250, 306792, 299875, 298750, 298333, 374625, 311333, 311750, 297334, 319666, 305958, 300500, 301625, 294584, 297708, 297000, 290458, 305125, 300500, 301583, 297125, 296209, 302208, 299084, 300166, 298542, 291000, 300958, 296417, 298750, 298042, 300458, 298167, 295209, 299375, 291666, 298625, 294833, 318458, 303750, 302125, 302750, 302417, 299416, 298083, 302041, 307958, 300250, 305333, 295250, 297042, 302500, 294958, 296833, 300250, 304459, 293375, 320375, 300083, 304166, 377750, 306708, 298333, 299792, 302166, 306792, 303375, 302500, 296041, 296125, 295625, 317917, 299667, 306334, 306625, 297166, 301959, 304916, 303666, 308291, 323416, 298958, 297125, 298084, 303917, 296958, 309959, 309834, 304125, 301250, 302292, 309959, 304542, 305709, 295625, 301875, 306167 ] }, { "case_id": "native-fresh-07-missing_target", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 171125, 193167, 168459, 172291, 172625, 175291, 169292, 174459, 173541, 169625, 171667, 172917, 170084, 173625, 177791, 235666, 179916, 181875, 171333, 168208, 175792, 167125, 176583, 170834, 172708, 169875, 170542, 173083, 169875, 168291, 172125, 171750, 169416, 172167, 169458, 164417, 168875, 170584, 169292, 171667, 169458, 172417, 170250, 171208, 168500, 174167, 170875, 163667, 167042, 170875, 163458, 165542, 166625, 165167, 167125, 165750, 162750, 171042, 169917, 186583, 173958, 166625, 163833, 171625, 167541, 167542, 170667, 165834, 171709, 173166, 174541, 164084, 173959, 166375, 166541, 167500, 171625, 164666, 167125, 171792, 167417, 177541, 166917, 165250, 167959, 166000, 168542, 167458, 165292, 165542, 166500, 167834, 165375, 173583, 171250, 164083, 166667, 169916, 165791, 167625 ] }, { "case_id": "native-fresh-07-wrong_object", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 177333, 192500, 253167, 192458, 173209, 175833, 192084, 169750, 166625, 164750, 164000, 169291, 165084, 170083, 171792, 166375, 165917, 165917, 166916, 166292, 165917, 166500, 166917, 165000, 166334, 166625, 167292, 166333, 166750, 166541, 167459, 166625, 165625, 166250, 166000, 171167, 166500, 165375, 166417, 167209, 165625, 166750, 165584, 167042, 173167, 167000, 167166, 166250, 166042, 165542, 166917, 171292, 166084, 170084, 171416, 167625, 172792, 165708, 169208, 171291, 165125, 166000, 170750, 164958, 169083, 186458, 173917, 169458, 171000, 170000, 171375, 171417, 171125, 170084, 177583, 170958, 169709, 169041, 169667, 167875, 171166, 170500, 170750, 169375, 168166, 173708, 168625, 164625, 168250, 173542, 174792, 168708, 172792, 173500, 172583, 169250, 169625, 173916, 249791, 173875 ] }, { "case_id": "native-fresh-07-wrong_position", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233361246803e-06, "upper": 2.0468233361246803e-06 }, "observed": 2.0468233361246803e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090874635e-06, "upper": 1.0577925090874635e-06 }, "observed": 1.0577925090874635e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429892478866126, "upper": 0.29429892478866126 }, "observed": 0.29429892478866126, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.169999973896702, "upper": 0.169999973896702 }, "observed": 0.169999973896702, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965561730619143e-09, "upper": 2.1965561730619143e-09 }, "observed": 2.1965561730619143e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 302458, 290417, 317209, 298958, 294500, 293875, 293042, 291417, 289625, 289209, 296458, 289917, 290459, 289666, 299375, 289708, 290667, 298292, 304083, 299750, 306125, 302250, 293291, 291334, 289042, 288833, 289875, 289500, 288042, 288708, 288209, 288458, 289250, 288083, 292125, 290292, 314083, 301916, 300791, 304750, 299667, 302708, 296459, 308292, 409416, 318875, 303208, 297209, 296833, 294042, 290750, 308417, 297500, 296583, 304125, 312416, 308458, 296833, 300958, 303667, 304292, 298916, 299666, 289708, 295500, 294167, 325458, 295583, 304000, 318250, 296791, 297292, 293333, 292292, 292834, 289125, 290541, 289042, 291542, 289333, 289000, 289958, 289542, 289084, 289208, 290875, 291750, 292333, 291583, 292000, 292625, 293417, 290208, 289375, 293042, 288375, 291584, 292333, 297583, 397292 ] }, { "case_id": "native-fresh-07-wrong_orientation", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336116851e-06, "upper": 2.046823336116851e-06 }, "observed": 2.046823336116851e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090995974e-06, "upper": 1.0577925090995974e-06 }, "observed": 1.0577925090995974e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429892478866065, "upper": 0.29429892478866065 }, "observed": 0.29429892478866065, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805193015769e-07, "upper": 1.0856805193015769e-07 }, "observed": 1.0856805193015769e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.5707963245985557, "upper": 1.5707963245985557 }, "observed": 1.5707963245985557, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 299792, 304667, 296375, 289084, 290417, 299500, 304791, 294625, 308959, 300708, 289083, 299416, 301916, 295958, 299959, 292125, 296084, 294084, 298000, 298125, 291708, 291125, 293959, 290166, 311250, 304084, 297416, 297042, 298167, 296709, 301125, 303083, 293750, 301750, 297166, 300792, 299292, 302334, 292042, 291000, 289792, 300333, 302084, 328250, 339000, 304584, 306417, 299500, 300000, 313209, 317083, 300084, 290417, 296416, 298625, 305834, 296750, 300083, 301041, 304583, 291875, 299250, 296583, 291375, 300500, 294875, 299125, 293458, 303000, 298542, 311750, 305167, 306250, 300750, 300708, 296000, 301917, 302083, 298833, 295792, 299417, 300125, 295500, 292500, 306583, 302709, 291667, 303458, 300834, 292708, 292959, 320875, 305750, 306583, 300542, 298542, 305000, 308375, 378000, 304167 ] }, { "case_id": "native-fresh-07-unreleased", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.004640258934027679, "upper": 0.004640258934027679 }, "observed": 0.004640258934027679, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.00010735334373759512, "upper": 0.00010735334373759512 }, "observed": 0.00010735334373759512, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.7758018872501677, "upper": 0.7758018872501677 }, "observed": 0.7758018872501677, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.28163750023067624, "upper": 0.28163750023067624 }, "observed": 0.28163750023067624, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.00020623360292834975, "upper": 0.00020623360292834975 }, "observed": 0.00020623360292834975, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.000982424029561911, "upper": 0.000982424029561911 }, "observed": 0.000982424029561911, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.19999999999997797, "evaluated_end_s": 6.799999999999473, "evaluated_sample_count": 100, "evaluated_start_s": 6.599999999999495, "newest_t_s": 6.799999999999473, "source_sample_count": 100 } }, "timing_ns": [ 303708, 299250, 296292, 298958, 293208, 293083, 300917, 298083, 298083, 302834, 300708, 297041, 288542, 290958, 288958, 288334, 288667, 290208, 293959, 297875, 289750, 290292, 289833, 291167, 290708, 291417, 297833, 292333, 292167, 292917, 293250, 290709, 293417, 290625, 291333, 290333, 294875, 291166, 294916, 291750, 298209, 290375, 298917, 383833, 315875, 308750, 302250, 301625, 301917, 300000, 308167, 309291, 297375, 311125, 296042, 293666, 295333, 299959, 296875, 291417, 291000, 296708, 290792, 295500, 291250, 295375, 308208, 291708, 298000, 297083, 290417, 290916, 290625, 291708, 291292, 293542, 327958, 296959, 295334, 296750, 293292, 294459, 292709, 291333, 297458, 293541, 293625, 293000, 290916, 290333, 290375, 294000, 291792, 293500, 291500, 296375, 290667, 290542, 328583, 294458 ] }, { "case_id": "native-fresh-07-moving_alias", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233360936945e-06, "upper": 2.0468233360936945e-06 }, "observed": 2.0468233360936945e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12, "upper": 0.12 }, "observed": 0.12, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429892478866126, "upper": 0.29429892478866126 }, "observed": 0.29429892478866126, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805235504176e-07, "upper": 1.0856805235504176e-07 }, "observed": 1.0856805235504176e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965561730619143e-09, "upper": 2.1965561730619143e-09 }, "observed": 2.1965561730619143e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "linear_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 291333, 291083, 292250, 291500, 291917, 292375, 290542, 290042, 297625, 292500, 290458, 290459, 293541, 290791, 293375, 291709, 290959, 292292, 291666, 290458, 291000, 291042, 291792, 291250, 291625, 292917, 293917, 291958, 293625, 290875, 294667, 292041, 289791, 322500, 299750, 298000, 296667, 296583, 293250, 294375, 292708, 294750, 295916, 301750, 299834, 393333, 316667, 299291, 307541, 295500, 293834, 296833, 300750, 292250, 291583, 292375, 294500, 299167, 294959, 295917, 304834, 298125, 295875, 304750, 301334, 298291, 317875, 299750, 308041, 297833, 303125, 295375, 294917, 293875, 293291, 292333, 297166, 307917, 295625, 292750, 294500, 300750, 304625, 296959, 298625, 306375, 295708, 299583, 297500, 297333, 295959, 309375, 302708, 303792, 296500, 294333, 293833, 295833, 380250, 327792 ] }, { "case_id": "native-fresh-07-occluded", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233360936945e-06, "upper": 2.0468233360936945e-06 }, "observed": 2.0468233360936945e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090941548e-06, "upper": 1.0577925090941548e-06 }, "observed": 1.0577925090941548e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429892478866126, "upper": 0.29429892478866126 }, "observed": 0.29429892478866126, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805235504176e-07, "upper": 1.0856805235504176e-07 }, "observed": 1.0856805235504176e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965561730619143e-09, "upper": 2.1965561730619143e-09 }, "observed": 2.1965561730619143e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 298166, 296250, 291416, 291000, 292625, 291833, 295125, 292833, 296916, 295000, 300000, 296375, 297458, 295542, 293833, 294958, 296958, 296958, 290458, 301917, 295209, 324917, 299167, 296042, 305083, 297417, 292917, 301333, 305125, 302833, 295042, 298250, 300417, 305042, 294125, 303458, 291292, 291542, 295625, 291750, 298208, 297208, 307125, 397500, 325667, 314167, 298125, 299208, 304125, 303708, 304625, 300166, 299583, 299875, 317792, 296667, 341166, 340459, 299084, 290750, 299750, 290542, 298500, 301000, 298833, 300416, 298500, 297500, 297708, 295667, 296167, 296833, 297917, 293917, 299000, 289208, 293875, 291542, 294000, 298500, 288250, 295625, 290791, 293583, 293875, 293000, 291959, 304041, 295083, 291917, 295958, 290208, 289250, 290583, 290250, 296792, 293250, 317708, 381584, 299375 ] }, { "case_id": "native-fresh-08-complete", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233360185517e-06, "upper": 2.0468233360185517e-06 }, "observed": 2.0468233360185517e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090839514e-06, "upper": 1.0577925090839514e-06 }, "observed": 1.0577925090839514e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805234927955e-07, "upper": 1.0856805234927955e-07 }, "observed": 1.0856805234927955e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556256328641e-09, "upper": 2.196556256328641e-09 }, "observed": 2.196556256328641e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 294875, 293333, 297833, 302542, 304292, 297625, 300583, 298250, 302083, 293542, 323708, 296875, 302708, 299084, 303291, 297958, 290250, 290584, 291042, 291666, 298708, 299375, 303625, 302709, 302208, 301167, 301042, 304500, 304583, 299084, 305125, 303708, 303500, 304708, 294959, 297292, 292917, 295916, 297084, 298084, 296750, 307333, 381625, 308625, 314792, 294084, 300834, 303000, 297209, 308542, 301291, 298042, 298500, 295041, 295500, 292333, 303292, 293250, 293375, 296375, 298625, 299375, 296791, 304958, 302250, 301709, 297667, 305125, 298542, 299083, 300709, 302250, 294250, 292708, 295542, 295875, 320041, 298709, 302375, 306667, 302375, 296250, 299250, 308500, 297083, 308584, 302375, 301042, 308500, 305042, 303750, 307042, 300084, 300083, 301042, 302000, 398917, 316917, 325375, 306417 ] }, { "case_id": "native-fresh-08-missing_target", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 168833, 167500, 166958, 174458, 174625, 166958, 166750, 174250, 169750, 169500, 169333, 168375, 172500, 176667, 166334, 172333, 170708, 165708, 170375, 166458, 165792, 165667, 165625, 165750, 170583, 166125, 173208, 164833, 169042, 172000, 179333, 170334, 168958, 168833, 169625, 170667, 171500, 168584, 168958, 171917, 173625, 171000, 170459, 168208, 171541, 169709, 167083, 166375, 166834, 177625, 169500, 167291, 166334, 171959, 167708, 175083, 170084, 166041, 166750, 166041, 164750, 164958, 165959, 197166, 173916, 166834, 166500, 167167, 166959, 165917, 165084, 166875, 167000, 166500, 165833, 165916, 165334, 167459, 165792, 174834, 191000, 246834, 178458, 165958, 175000, 166167, 166541, 165584, 165375, 167292, 171125, 171000, 170167, 169292, 169875, 170500, 170792, 166084, 165958, 166750 ] }, { "case_id": "native-fresh-08-wrong_object", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 163375, 166291, 163625, 165208, 164959, 164834, 165042, 164833, 165875, 164541, 187792, 173833, 170250, 176542, 166500, 166042, 164958, 165708, 165709, 166500, 165792, 164584, 164500, 165209, 168084, 170584, 169125, 173875, 169708, 165708, 181000, 180541, 172584, 168625, 170834, 171083, 167916, 170417, 169416, 164917, 164916, 165084, 165125, 168500, 166292, 165000, 166125, 170416, 167417, 170125, 170208, 165834, 171625, 172250, 167792, 171292, 172416, 172667, 170958, 170958, 170291, 170166, 170500, 170667, 164833, 171500, 177750, 247250, 180833, 175375, 173375, 178458, 171667, 170375, 187333, 169958, 171375, 172375, 168041, 170750, 167250, 172416, 173917, 168791, 170834, 170875, 171125, 170042, 167459, 172375, 171708, 169750, 171667, 170417, 168750, 171542, 170708, 169708, 169708, 170792 ] }, { "case_id": "native-fresh-08-wrong_position", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233361287333e-06, "upper": 2.0468233361287333e-06 }, "observed": 2.0468233361287333e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090808191e-06, "upper": 1.0577925090808191e-06 }, "observed": 1.0577925090808191e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429892478866077, "upper": 0.29429892478866077 }, "observed": 0.29429892478866077, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.16999998284762913, "upper": 0.16999998284762913 }, "observed": 0.16999998284762913, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556256328641e-09, "upper": 2.196556256328641e-09 }, "observed": 2.196556256328641e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 298583, 293250, 294750, 295334, 313375, 294541, 295042, 290375, 290542, 292334, 291250, 289708, 289834, 290167, 290792, 289667, 290750, 296458, 297041, 291041, 295208, 295041, 295458, 296208, 296250, 313167, 389000, 308250, 295125, 295417, 295708, 299166, 301166, 300167, 305334, 301625, 300083, 309666, 301208, 295375, 297583, 295041, 293792, 291541, 291375, 292542, 294834, 294917, 300375, 304250, 301292, 295791, 300875, 302167, 297959, 303625, 303291, 309792, 326375, 315542, 304459, 303292, 300875, 300292, 294958, 300500, 301750, 299833, 299042, 295792, 298209, 300166, 298792, 299417, 299584, 296125, 293875, 296083, 298250, 299500, 316291, 297292, 300208, 388000, 313583, 321834, 305208, 306375, 309875, 299500, 302542, 298750, 293708, 297167, 306500, 296333, 298583, 289208, 289625, 298041 ] }, { "case_id": "native-fresh-08-wrong_orientation", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233362235676e-06, "upper": 2.0468233362235676e-06 }, "observed": 2.0468233362235676e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091155894e-06, "upper": 1.0577925091155894e-06 }, "observed": 1.0577925091155894e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886612, "upper": 0.2942989247886612 }, "observed": 0.2942989247886612, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805247535128e-07, "upper": 1.0856805247535128e-07 }, "observed": 1.0856805247535128e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.5707963245985563, "upper": 1.5707963245985563 }, "observed": 1.5707963245985563, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 290416, 305709, 296834, 304417, 304125, 295125, 301584, 295000, 301875, 297250, 302416, 293500, 302042, 299334, 315333, 313209, 302625, 292750, 291958, 296125, 297042, 296458, 295042, 302083, 296000, 308042, 385000, 310333, 289333, 288625, 293791, 295333, 295708, 295334, 288125, 289000, 288667, 287333, 292458, 292875, 293584, 292875, 293291, 289584, 294125, 290083, 292125, 312541, 293042, 295166, 293875, 292375, 293459, 292042, 291667, 290458, 290250, 295084, 294042, 294750, 293875, 293458, 292833, 294458, 291208, 293250, 291375, 293417, 294500, 293458, 290583, 291542, 290583, 289833, 289750, 290208, 295208, 293625, 294042, 296916, 409750, 308584, 310833, 298042, 307917, 297125, 314667, 296083, 296792, 294584, 294709, 290875, 290958, 291375, 295875, 294875, 294750, 294666, 295458, 294042 ] }, { "case_id": "native-fresh-08-unreleased", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0012562403978148833, "upper": 0.0012562403978148833 }, "observed": 0.0012562403978148833, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.00021201126451029871, "upper": 0.00021201126451029871 }, "observed": 0.00021201126451029871, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.7637318512439624, "upper": 0.7637318512439624 }, "observed": 0.7637318512439624, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.32599320995620473, "upper": 0.32599320995620473 }, "observed": 0.32599320995620473, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0006226343876612242, "upper": 0.0006226343876612242 }, "observed": 0.0006226343876612242, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0018526564583216457, "upper": 0.0018526564583216457 }, "observed": 0.0018526564583216457, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.19999999999997797, "evaluated_end_s": 6.799999999999473, "evaluated_sample_count": 100, "evaluated_start_s": 6.599999999999495, "newest_t_s": 6.799999999999473, "source_sample_count": 100 } }, "timing_ns": [ 296334, 292583, 291667, 316667, 294708, 292000, 290375, 290958, 297083, 295083, 293875, 295292, 293375, 291458, 290459, 292125, 290209, 289292, 292209, 294833, 292000, 291708, 290958, 290833, 298375, 388708, 321000, 306750, 298417, 294792, 293583, 297625, 298625, 297291, 293583, 294500, 295000, 296000, 299208, 293625, 295000, 293667, 296291, 295500, 295791, 293458, 300834, 300917, 297542, 297625, 294709, 294083, 293042, 293459, 293666, 293084, 298750, 299416, 296083, 293958, 293125, 293541, 293750, 298625, 295417, 298875, 296167, 295584, 297209, 293208, 331750, 301125, 295750, 296708, 294084, 296917, 303042, 296042, 295625, 295500, 359125, 438333, 333250, 297167, 305209, 303208, 301667, 297750, 296208, 300209, 295250, 294917, 300959, 291000, 290292, 293959, 290167, 290750, 290583, 291042 ] }, { "case_id": "native-fresh-08-moving_alias", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233360185517e-06, "upper": 2.0468233360185517e-06 }, "observed": 2.0468233360185517e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12, "upper": 0.12 }, "observed": 0.12, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805234927955e-07, "upper": 1.0856805234927955e-07 }, "observed": 1.0856805234927955e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556256328641e-09, "upper": 2.196556256328641e-09 }, "observed": 2.196556256328641e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "linear_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 296666, 293375, 288000, 287958, 288167, 286334, 287708, 289917, 296667, 293958, 289542, 287166, 288292, 289000, 289041, 288708, 294750, 293208, 295167, 294250, 294250, 290167, 287417, 286917, 298917, 302458, 391042, 313750, 299583, 293875, 295125, 296333, 301458, 306292, 291792, 295917, 291333, 295083, 296708, 294291, 294334, 291875, 292125, 289541, 291708, 291084, 295000, 294833, 293458, 295500, 293583, 294917, 296625, 293791, 292625, 293334, 294959, 293959, 292917, 292500, 290916, 291333, 289917, 291375, 289292, 294167, 294250, 292042, 294709, 295209, 295958, 292708, 293708, 294042, 294708, 297500, 466708, 392500, 299625, 298042, 294209, 303125, 299042, 293625, 297959, 301542, 295875, 296291, 316500, 319917, 311833, 317583, 314667, 318375, 313625, 312000, 312375, 311125, 311584, 295750 ] }, { "case_id": "native-fresh-08-occluded", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233360185517e-06, "upper": 2.0468233360185517e-06 }, "observed": 2.0468233360185517e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090839514e-06, "upper": 1.0577925090839514e-06 }, "observed": 1.0577925090839514e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805234927955e-07, "upper": 1.0856805234927955e-07 }, "observed": 1.0856805234927955e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556256328641e-09, "upper": 2.196556256328641e-09 }, "observed": 2.196556256328641e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 301208, 295625, 295250, 292416, 291875, 291334, 292708, 291333, 297667, 297250, 297709, 295167, 293125, 292541, 295709, 293708, 292750, 295000, 294875, 300250, 295000, 295166, 296125, 297208, 338750, 443958, 306834, 303375, 299833, 299125, 322958, 300791, 301625, 295083, 292750, 295917, 294166, 294541, 300417, 294500, 294458, 294917, 294875, 293459, 288417, 294209, 302166, 292209, 292792, 290375, 289750, 290250, 290250, 289333, 290667, 290375, 292417, 295875, 291208, 290333, 290916, 292000, 289458, 291417, 320416, 300083, 296000, 294750, 294959, 291375, 291000, 290459, 290792, 294584, 291417, 297209, 297833, 292333, 290958, 308250, 387084, 303875, 297958, 298166, 298708, 296417, 291833, 289458, 291000, 291167, 292458, 290416, 290416, 288916, 304250, 292250, 290666, 289792, 318375, 293917 ] }, { "case_id": "fresh-01-fault-stale", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "detail": "Newest observation is more than 100 ms old.", "reason": "stale_observation", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "stale_observation" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.5000000000000001, "declared_sample_period_s": 0.002, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 261834, 263459, 262375, 262250, 262334, 260209, 262042, 261833, 262166, 261208, 261875, 259417, 262209, 258708, 262833, 261750, 261708, 262167, 261667, 259209, 261959, 258375, 261833, 261708, 286084, 268959, 264750, 262250, 275208, 353792, 281167, 270750, 261750, 260458, 261625, 261500, 261625, 266167, 261917, 260709, 261084, 268916, 261166, 257875, 260833, 257291, 260417, 260500, 259666, 259458, 258583, 255791, 259792, 254667, 259791, 258750, 259125, 258417, 257000, 254917, 258875, 256333, 282208, 267084, 263708, 263666, 261042, 258875, 261458, 272959, 261625, 261459, 260334, 261250, 261500, 259417, 262417, 259417, 263417, 262875, 262375, 262167, 261708, 259042, 262667, 258708, 260792, 261208, 261625, 260875, 260958, 268500, 265958, 261917, 274625, 389708, 280458, 265875, 266709, 281208 ] }, { "case_id": "fresh-01-fault-future", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "detail": "Newest observation is after the trusted clock.", "reason": "future_observation", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "future_observation" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": -0.20000000000000007, "declared_sample_period_s": 0.002, "newest_t_s": 0.8000000000000005, "source_sample_count": 100 } }, "timing_ns": [ 261958, 260959, 260834, 261334, 266417, 266791, 264666, 261834, 261209, 260917, 261000, 261083, 262666, 260375, 260250, 261875, 261625, 260458, 261375, 259625, 260083, 260875, 261458, 260583, 260875, 262208, 263417, 260167, 260084, 260792, 261084, 261083, 260500, 259792, 260625, 260666, 261291, 262208, 260875, 260583, 260666, 260958, 284625, 274417, 272917, 285417, 337250, 283375, 268083, 262416, 262583, 262333, 264833, 265708, 264917, 261250, 261959, 262834, 262875, 262041, 261625, 262542, 263125, 263084, 262834, 263375, 264041, 262792, 262709, 262416, 266708, 261541, 261417, 262959, 262875, 262292, 262083, 261750, 268708, 266875, 267334, 261667, 261458, 261625, 262333, 261666, 262542, 262292, 260125, 261792, 261083, 262458, 262125, 274334, 262584, 261541, 262416, 261500, 261667, 262708 ] }, { "case_id": "fresh-01-fault-gap", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "detail": "Sample 50 does not end the next 2 ms interval.", "reason": "gapped_or_irregular_history", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "gapped_or_irregular_history" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 141750, 228000, 143083, 142542, 139291, 134792, 134541, 138167, 134666, 135333, 138417, 139708, 135583, 135916, 135667, 135375, 135167, 135541, 135667, 135250, 135292, 134958, 135292, 135291, 135375, 135666, 135083, 134875, 135375, 134833, 134875, 134750, 135000, 134459, 135292, 135125, 135250, 134709, 134917, 134792, 135583, 138625, 145750, 145375, 140166, 134917, 135250, 135500, 139916, 140084, 134583, 139750, 135042, 134625, 134625, 135167, 139375, 138041, 144667, 137792, 139458, 137750, 137875, 140583, 139500, 135208, 134833, 138208, 137917, 135666, 135833, 134583, 134833, 155000, 136792, 134958, 136750, 137292, 134375, 133583, 134375, 134333, 133792, 134083, 133708, 134125, 137625, 139375, 138667, 137125, 142792, 140958, 139416, 137917, 139459, 139667, 139625, 137458, 139208, 133958 ] }, { "case_id": "fresh-01-fault-duplicate", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "detail": "Timestamp did not advance at sample 50.", "reason": "nonmonotonic_timestamps", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "nonmonotonic_timestamps" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 134000, 136541, 134375, 133959, 134291, 134666, 157083, 139458, 138041, 145417, 140959, 145125, 226667, 145000, 139958, 137292, 136667, 136583, 138292, 140083, 136291, 144625, 136166, 144334, 136750, 136708, 135958, 141125, 134708, 135959, 144875, 140458, 140333, 137542, 137083, 138417, 138375, 136292, 134083, 135167, 134375, 134542, 133791, 133708, 135209, 137833, 137750, 136792, 137375, 135167, 140542, 139125, 137166, 133375, 135500, 135000, 134666, 134583, 133167, 135292, 138917, 135459, 137500, 137208, 139250, 135167, 133584, 134792, 139959, 140542, 135125, 138375, 136209, 133750, 135083, 138000, 146625, 135083, 133750, 136000, 137667, 134750, 134166, 133291, 135500, 134750, 134416, 140125, 133292, 140709, 134584, 139542, 134375, 133416, 134833, 134500, 134292, 133250, 136625, 135125 ] }, { "case_id": "fresh-01-fault-wrong_units", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "detail": "Require the exact declared SI unit map.", "reason": "invalid_units", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_units" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 3583, 3708, 3625, 3583, 3541, 3583, 3542, 3583, 3500, 3584, 3458, 3542, 3458, 3459, 3500, 3542, 3458, 3500, 3542, 3625, 3541, 3500, 3541, 3542, 3458, 3542, 3625, 3541, 3542, 6959, 3583, 3542, 6750, 3459, 3500, 3666, 3542, 3584, 3500, 3542, 3458, 3584, 3583, 3541, 3542, 3500, 3500, 3417, 3417, 3542, 3500, 3541, 3959, 3541, 3583, 3458, 3459, 3459, 3416, 3459, 3458, 3458, 3500, 3417, 3458, 3458, 3541, 3417, 3458, 3459, 3416, 3459, 3458, 3500, 3500, 3500, 3542, 3500, 3541, 3458, 3542, 3458, 3416, 3458, 3417, 3459, 3500, 3417, 3459, 3458, 3458, 3500, 3500, 3500, 3458, 3583, 3459, 3458, 3500, 3458 ] }, { "case_id": "fresh-01-fault-wrong_frame", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "detail": "Sample 99 does not use the trusted goal frame.", "reason": "invalid_reference_frame", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_reference_frame" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 268250, 363334, 285542, 274625, 277500, 266500, 272291, 265042, 267125, 267667, 272458, 269458, 258333, 266375, 277208, 271417, 276250, 293125, 317708, 358667, 369667, 367958, 376917, 383250, 329250, 312208, 365625, 364417, 372959, 355958, 360041, 405833, 396791, 303500, 264959, 260000, 259917, 260125, 264416, 258583, 264500, 257625, 260042, 260000, 260459, 259292, 259167, 270834, 258667, 258125, 258583, 263125, 257334, 259208, 258333, 259250, 270792, 264959, 273500, 358333, 275375, 266083, 260625, 256750, 259625, 273125, 261250, 266584, 264667, 267875, 262750, 264209, 267291, 264042, 266958, 260917, 265583, 263500, 266209, 261500, 262666, 262500, 262083, 267625, 266666, 265250, 264833, 268708, 268375, 263125, 264459, 262291, 268875, 260459, 267209, 264834, 260792, 257000, 258041, 257792 ] }, { "case_id": "fresh-01-fault-wrong_identity", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "detail": "Sample 99 does not identify the trusted target.", "reason": "unverified_target_identity", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "unverified_target_identity" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 259625, 262875, 257583, 265333, 262833, 266583, 262125, 267167, 271917, 348791, 272334, 263166, 266791, 263375, 269208, 263416, 264834, 260709, 261542, 261000, 263583, 261584, 261417, 261000, 260041, 265625, 260000, 260542, 263625, 266667, 263416, 267875, 262459, 256000, 255416, 274792, 280167, 262625, 262166, 262792, 262584, 265042, 262167, 267292, 266750, 270292, 263459, 267750, 270792, 264125, 255708, 255875, 256500, 269250, 269125, 267875, 266375, 268958, 262208, 260916, 266500, 267000, 263041, 269209, 257625, 254958, 260875, 263875, 268417, 271542, 274750, 336000, 268167, 279208, 269917, 264584, 261834, 271083, 266750, 267667, 269167, 261000, 263750, 264208, 259667, 265625, 256208, 255250, 259709, 265250, 254708, 255083, 255875, 254167, 253333, 261708, 265667, 261417, 253959, 254583 ] }, { "case_id": "fresh-01-fault-short_history", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "detail": "At least 100 contiguous 2 ms samples are required before physical scoring.", "reason": "insufficient_history", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "insufficient_history" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "newest_t_s": 0.6000000000000004, "source_sample_count": 20 } }, "timing_ns": [ 63334, 58750, 59833, 62417, 58542, 58458, 58750, 58791, 58708, 59084, 58500, 57833, 64208, 58875, 58459, 59083, 63583, 58166, 59042, 58583, 61458, 60042, 59166, 61375, 59459, 58625, 58875, 59541, 59000, 58292, 59583, 58541, 59750, 59542, 58584, 58334, 59458, 58792, 58625, 59125, 58917, 59000, 59375, 59583, 58792, 59625, 59083, 58750, 59500, 59125, 58417, 59458, 58875, 62334, 59916, 58917, 58625, 59666, 62375, 58333, 59750, 59042, 58834, 59417, 58875, 58792, 59834, 62250, 58958, 63083, 59083, 59000, 59625, 59334, 58750, 59417, 62125, 58667, 59583, 59000, 58792, 59583, 59167, 58625, 59709, 59292, 62291, 59625, 59125, 58500, 59791, 59250, 58667, 59333, 58958, 58667, 60084, 59041, 58709, 59500 ] }, { "case_id": "fresh-01-fault-missing_measurement", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 has invalid or out-of-range robot_contact_force_n.", "reason": "invalid_robot_contact_force_n", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_robot_contact_force_n" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 268334, 262584, 269250, 262041, 262708, 265875, 264875, 264625, 261375, 258000, 262042, 257917, 261333, 261958, 261125, 260292, 260500, 260042, 261166, 258083, 261958, 261375, 259667, 260917, 260583, 258083, 265125, 257667, 275875, 261958, 261750, 261250, 261958, 257334, 268584, 259416, 266000, 262542, 261792, 262750, 262209, 259875, 261667, 257541, 261042, 261916, 261250, 264333, 262250, 257334, 262000, 260500, 260834, 262708, 260958, 260333, 259833, 257625, 264959, 264959, 367667, 281125, 271125, 276459, 264542, 267958, 269125, 261167, 277417, 267333, 264000, 273541, 264334, 258958, 263125, 259417, 260458, 262375, 261709, 262042, 262916, 262333, 266208, 258167, 261209, 263500, 260500, 264041, 269583, 259708, 260792, 258333, 264500, 261000, 260500, 260875, 260375, 260542, 267958, 269125 ] }, { "case_id": "fresh-01-fault-unknown_presence", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "detail": "Target presence is unknown within the latest 200 ms.", "reason": "unknown_target_presence", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "unknown_target_presence" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 171500, 169084, 172833, 178125, 164125, 166458, 166625, 166250, 163916, 168125, 161416, 165958, 172625, 166500, 164541, 171625, 170166, 171875, 167958, 166250, 160958, 163209, 161667, 169958, 170834, 169333, 172333, 210208, 251416, 171250, 168708, 167292, 160833, 167333, 161709, 165083, 174292, 162875, 160333, 164750, 169500, 166875, 167917, 165167, 164625, 168708, 159708, 162166, 163208, 160084, 163583, 164791, 163541, 159584, 163542, 165250, 161667, 164917, 166750, 165167, 164750, 165792, 161208, 169333, 163709, 165666, 166292, 165834, 162834, 169125, 164000, 167042, 166541, 168041, 159542, 171459, 170417, 169375, 176041, 163958, 160250, 161125, 161166, 168291, 167709, 165083, 176500, 186416, 173791, 170000, 171959, 162916, 163417, 170625, 168667, 161458, 165834, 170375, 173625, 167958 ] }, { "case_id": "fresh-01-fault-threshold_uncertainty", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.04682333594402e-06, "upper": 2.04682333594402e-06 }, "observed": 2.04682333594402e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090919288e-06, "upper": 1.0577925090919288e-06 }, "observed": 1.0577925090919288e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 1.0, "interval": { "lower": 0.0, "upper": 1.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "uncertainty_overlaps_threshold", "statistic": "min", "status": "unknown", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805231593294e-07, "upper": 1.0856805231593294e-07 }, "observed": 1.0856805231593294e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19655632571758e-09, "upper": 2.19655632571758e-09 }, "observed": 2.19655632571758e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "uncertainty_overlaps_threshold" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 304334, 312625, 296792, 323209, 389042, 308041, 292459, 292625, 299000, 298375, 301042, 296375, 291500, 292292, 317125, 295125, 292334, 293542, 294416, 294542, 293583, 292916, 292167, 292750, 301292, 291667, 291125, 297583, 296375, 295667, 295584, 291584, 291708, 291583, 292084, 292291, 290083, 293208, 297042, 295250, 291583, 296208, 290417, 291041, 290541, 292792, 295333, 298250, 323167, 295250, 294667, 296500, 292042, 309000, 291917, 295208, 301083, 381375, 323375, 296917, 302750, 298625, 299750, 289625, 294666, 297000, 291667, 290541, 291792, 292167, 291709, 291416, 295625, 293084, 292125, 289542, 299250, 291583, 301250, 292834, 291625, 292458, 296208, 294458, 294083, 292458, 293292, 298041, 298167, 295333, 299375, 300459, 296125, 297459, 298584, 305333, 303000, 298875, 298708, 299542 ] }, { "case_id": "fresh-01-fault-single_tick_contact_spike", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.04682333594402e-06, "upper": 2.04682333594402e-06 }, "observed": 2.04682333594402e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090919288e-06, "upper": 1.0577925090919288e-06 }, "observed": 1.0577925090919288e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.1, "upper": 0.1 }, "observed": 0.1, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805231593294e-07, "upper": 1.0856805231593294e-07 }, "observed": 1.0856805231593294e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19655632571758e-09, "upper": 2.19655632571758e-09 }, "observed": 2.19655632571758e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 296292, 308334, 393417, 348750, 314250, 307792, 311333, 306250, 295916, 296250, 293167, 289292, 288333, 289375, 300917, 305208, 336500, 354667, 335958, 339625, 376167, 412167, 404583, 402500, 409125, 410708, 402833, 435334, 453709, 405709, 394458, 302000, 291667, 291416, 297791, 289750, 288959, 297542, 294000, 300458, 294500, 299375, 294875, 290833, 293583, 297291, 297333, 300167, 296042, 287916, 289417, 295542, 388416, 307541, 308166, 298916, 296417, 292208, 296208, 301084, 295584, 296292, 291542, 297542, 295500, 296791, 295875, 297416, 296917, 295208, 290916, 291875, 292209, 291250, 292792, 291584, 295584, 297333, 295958, 297333, 296667, 295167, 292584, 295375, 296791, 293333, 293917, 303750, 294500, 289334, 291208, 291250, 292083, 294042, 291375, 296250, 293750, 320458, 297667, 295750 ] }, { "case_id": "fresh-01-fault-missing_uncertainty", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "detail": "Packet has missing or unexpected fields.", "reason": "invalid_packet_fields", "status": "unknown" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "reason": "not_evaluated", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_packet_fields" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 3083, 3250, 3125, 3084, 3125, 3042, 3084, 3083, 3125, 3042, 3042, 3083, 3042, 3084, 3042, 3125, 3041, 3083, 3000, 3000, 2959, 3042, 3083, 3084, 2958, 3042, 3042, 3083, 3083, 3167, 3084, 3084, 3084, 3084, 3042, 3125, 3000, 3041, 3041, 3000, 3000, 3042, 3000, 3000, 3041, 3083, 3000, 3042, 3000, 3000, 3000, 3000, 2959, 3000, 2958, 3041, 3041, 3041, 2958, 3000, 2958, 3125, 3000, 2959, 3000, 3083, 3000, 3042, 3000, 2959, 3000, 3000, 3000, 3000, 3042, 3000, 3041, 3000, 2917, 3125, 3042, 2958, 3000, 3083, 3000, 3000, 3000, 3042, 3000, 3000, 3000, 3083, 3042, 3041, 3083, 3042, 3000, 2958, 3000, 3000 ] }, { "case_id": "fresh-01-fault-invalid_number", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 has invalid or out-of-range linear_speed_m_s.", "reason": "invalid_linear_speed_m_s", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_linear_speed_m_s" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 263750, 262250, 264125, 262500, 269417, 260833, 260417, 260250, 260250, 256875, 261708, 261083, 261541, 263291, 271792, 269625, 264334, 264209, 268208, 267333, 265417, 268625, 268291, 270666, 270625, 271666, 272291, 267709, 271708, 270583, 271084, 270458, 268125, 265125, 268750, 273708, 272000, 269250, 269083, 274500, 268541, 264375, 272417, 267834, 270542, 273917, 271667, 272542, 279000, 267208, 274708, 276166, 269083, 270166, 273166, 267167, 315208, 502667, 288250, 272625, 271416, 271875, 269916, 276208, 264042, 261625, 264500, 263125, 267167, 266166, 264292, 264625, 265250, 262541, 265291, 266542, 264875, 266458, 264958, 267625, 264000, 263291, 265625, 264541, 265084, 265875, 265333, 268000, 264541, 261542, 264917, 264583, 268500, 269750, 327292, 275917, 268791, 267916, 273708, 272750 ] }, { "case_id": "fresh-01-fault-inconsistent_presence", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 reports absent/unknown presence with numeric object measurements.", "reason": "contradictory_presence_measurements", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "contradictory_presence_measurements" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 269458, 271542, 267958, 270334, 276167, 270583, 302667, 410459, 295625, 271375, 273916, 272792, 272375, 267958, 274458, 280417, 272833, 275292, 276459, 268667, 271250, 272500, 272167, 270458, 267125, 269125, 272583, 270917, 270708, 273375, 272208, 282208, 271666, 275208, 272209, 278458, 275292, 270375, 276333, 272125, 271500, 276792, 268584, 269000, 270250, 268500, 272417, 265583, 271375, 273917, 274625, 274459, 265709, 269333, 273000, 274916, 270333, 269791, 267958, 268417, 268000, 272584, 272167, 271458, 271292, 271750, 352583, 447666, 278667, 339875, 290250, 271750, 273167, 274958, 267083, 268625, 265250, 274417, 265334, 264458, 268042, 266542, 268708, 264417, 268416, 271458, 268542, 273834, 269125, 276542, 273750, 268791, 274458, 269041, 275292, 271209, 276708, 272792, 262542, 261417 ] }, { "case_id": "fresh-01-fault-injected_label", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "detail": "Packet has missing or unexpected fields.", "reason": "invalid_packet_fields", "status": "unknown" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "reason": "not_evaluated", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_packet_fields" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 3041, 3334, 3125, 3041, 3042, 3000, 2958, 3000, 3000, 3041, 3041, 3084, 3000, 3041, 2958, 3000, 3041, 3000, 2958, 2959, 2958, 3000, 2916, 2959, 3000, 3083, 3000, 3041, 3041, 3000, 3000, 2958, 3042, 2959, 3000, 3000, 3042, 2959, 3000, 3833, 3792, 3750, 3041, 3041, 3166, 2959, 3000, 2959, 2959, 3000, 3000, 3000, 2958, 3000, 2958, 3000, 3000, 3000, 2917, 2959, 2958, 3000, 2959, 3000, 3000, 2959, 2875, 3041, 2917, 3000, 2959, 3041, 2959, 3000, 2959, 4458, 3000, 2917, 3041, 3000, 2958, 3083, 3084, 3000, 3000, 2917, 2959, 2917, 2958, 2958, 2959, 3875, 3666, 3750, 3000, 3042, 3000, 3125, 2958, 3000 ] }, { "case_id": "fresh-01-consistent-forgery", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.04682333594402e-06, "upper": 2.04682333594402e-06 }, "observed": 2.04682333594402e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090919288e-06, "upper": 1.0577925090919288e-06 }, "observed": 1.0577925090919288e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805231593294e-07, "upper": 1.0856805231593294e-07 }, "observed": 1.0856805231593294e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19655632571758e-09, "upper": 2.19655632571758e-09 }, "observed": 2.19655632571758e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 307750, 311334, 302625, 296417, 306833, 299708, 308417, 313333, 341167, 359250, 364708, 444042, 334166, 314708, 311917, 318458, 320292, 299750, 294125, 315500, 312333, 299500, 295792, 307041, 299167, 305958, 296042, 300250, 307542, 304583, 309958, 292333, 300666, 300333, 309042, 301792, 308917, 301667, 314833, 306292, 295000, 302833, 312792, 347583, 316792, 304000, 304834, 310709, 306500, 309583, 296792, 302959, 311667, 315833, 305333, 311958, 313000, 313000, 303750, 308917, 311250, 310291, 309166, 316875, 308042, 334042, 398292, 314875, 309333, 311625, 306875, 293750, 291083, 289708, 292291, 319667, 303417, 295959, 294042, 291709, 293834, 291917, 292291, 291458, 296917, 300958, 292791, 291958, 292125, 291625, 291875, 290750, 294750, 293000, 291250, 296292, 292833, 295375, 291500, 292042 ] }, { "case_id": "fresh-02-fault-stale", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "detail": "Newest observation is more than 100 ms old.", "reason": "stale_observation", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "stale_observation" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.5000000000000001, "declared_sample_period_s": 0.002, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 265167, 265459, 264458, 264500, 264625, 266500, 264583, 263375, 264167, 270750, 266583, 271375, 294000, 351209, 273959, 260917, 260167, 260167, 259708, 268875, 266791, 260375, 259333, 259833, 260291, 263250, 261208, 260042, 259542, 259416, 258458, 259208, 259458, 258959, 257917, 256791, 258083, 258708, 258833, 257917, 258667, 258791, 258375, 256834, 259042, 258666, 258875, 257917, 260333, 260084, 287459, 264791, 266208, 265292, 263417, 263125, 262292, 262666, 263083, 258708, 263542, 262667, 263375, 262625, 263583, 263750, 263459, 259083, 263166, 262958, 263000, 263792, 269583, 360416, 276208, 271166, 265500, 260833, 266625, 259833, 259666, 258958, 260416, 258042, 261375, 261834, 260708, 261917, 263500, 261292, 262250, 259834, 261417, 261583, 261625, 261000, 261625, 262208, 260875, 259708 ] }, { "case_id": "fresh-02-fault-future", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "detail": "Newest observation is after the trusted clock.", "reason": "future_observation", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "future_observation" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": -0.20000000000000007, "declared_sample_period_s": 0.002, "newest_t_s": 0.8000000000000005, "source_sample_count": 100 } }, "timing_ns": [ 261875, 261583, 262416, 262666, 261917, 262000, 262250, 262416, 262125, 262417, 277416, 260916, 262291, 261625, 266166, 263792, 262750, 262125, 262833, 261791, 262041, 261916, 294125, 440958, 271375, 289750, 283416, 287584, 278917, 287959, 296833, 284667, 279042, 282958, 281458, 281250, 279250, 268209, 267583, 267542, 269542, 267041, 267666, 276250, 271791, 266583, 266542, 265083, 272708, 266042, 265834, 266666, 270250, 266584, 266834, 266459, 267542, 266750, 290708, 272583, 269291, 267042, 267833, 267958, 267209, 267792, 266833, 267625, 266459, 265875, 264708, 265167, 266959, 264708, 265125, 266167, 266084, 266042, 267375, 265417, 268625, 268916, 266459, 269541, 275417, 275208, 370125, 275625, 269500, 278125, 265875, 266333, 269500, 262334, 276958, 284375, 263208, 262666, 262208, 263291 ] }, { "case_id": "fresh-02-fault-gap", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "detail": "Sample 50 does not end the next 2 ms interval.", "reason": "gapped_or_irregular_history", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "gapped_or_irregular_history" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 135333, 137417, 137959, 134041, 142834, 135209, 141833, 139041, 136541, 135417, 138583, 136417, 135417, 137958, 136167, 135542, 137542, 135833, 135791, 138000, 141458, 144750, 148459, 146209, 140541, 148083, 146083, 145666, 148208, 145708, 141292, 147750, 145833, 144250, 145375, 145833, 143125, 147958, 146125, 142167, 146042, 146500, 146667, 143833, 144250, 145542, 147792, 144459, 142000, 145667, 146542, 141125, 143666, 145542, 139417, 138334, 145292, 140542, 137875, 135625, 135292, 137167, 135750, 138584, 140250, 134917, 134791, 137708, 136541, 134916, 136875, 135916, 135416, 251792, 144084, 156208, 183542, 182375, 152333, 139750, 136375, 135292, 140334, 140250, 141000, 140709, 141167, 139583, 144583, 140750, 138209, 140250, 145042, 134917, 142583, 143500, 142000, 142125, 139750, 139459 ] }, { "case_id": "fresh-02-fault-duplicate", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "detail": "Timestamp did not advance at sample 50.", "reason": "nonmonotonic_timestamps", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "nonmonotonic_timestamps" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 140792, 145000, 142917, 138875, 142667, 144250, 139500, 141917, 140083, 139500, 140958, 138209, 134541, 136792, 140125, 135167, 140292, 143625, 144916, 145333, 143209, 139125, 142667, 136250, 136417, 140250, 135459, 137792, 141125, 135792, 137875, 143541, 139250, 135542, 141166, 135708, 138417, 140333, 134958, 138000, 141084, 139000, 138000, 137541, 138500, 139875, 142833, 135458, 141375, 137958, 136917, 134833, 135959, 133250, 133000, 135459, 133375, 132750, 135708, 133166, 133292, 138125, 142333, 137667, 134917, 136458, 136250, 140417, 138875, 133459, 139416, 137750, 134959, 145042, 138208, 132166, 139541, 143083, 139875, 139500, 142666, 143417, 142959, 227584, 141583, 143375, 148792, 143167, 140084, 147542, 135625, 143000, 143792, 146375, 138792, 136791, 133666, 136042, 141458, 138583 ] }, { "case_id": "fresh-02-fault-wrong_units", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "detail": "Require the exact declared SI unit map.", "reason": "invalid_units", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_units" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 3625, 4000, 3625, 3666, 3542, 3584, 3667, 3542, 8834, 3667, 3584, 3500, 3542, 3500, 3542, 3583, 3458, 3541, 3500, 3500, 3541, 3583, 3459, 3541, 3459, 3541, 3416, 3625, 3458, 3500, 3583, 3459, 3500, 3583, 3500, 3541, 3583, 3542, 3500, 3541, 3541, 3459, 3500, 3458, 3500, 3500, 4208, 3584, 3542, 3500, 3625, 3542, 3500, 3500, 3375, 8084, 3542, 3542, 3500, 3500, 3583, 3459, 3500, 3625, 3500, 3500, 3500, 3500, 3583, 3458, 3459, 3458, 3541, 3500, 3458, 3500, 3500, 3500, 3500, 3500, 3416, 3458, 3500, 3500, 3542, 3375, 3375, 3667, 3500, 3583, 3542, 3417, 3417, 3500, 3458, 3459, 3541, 3541, 3458, 3542 ] }, { "case_id": "fresh-02-fault-wrong_frame", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "detail": "Sample 99 does not use the trusted goal frame.", "reason": "invalid_reference_frame", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_reference_frame" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 266458, 262916, 262917, 267333, 257833, 264750, 271583, 267792, 266541, 266083, 267416, 265792, 262750, 269833, 288542, 266333, 266042, 266208, 265250, 260459, 262542, 259334, 266500, 259458, 267459, 262833, 264125, 269709, 263875, 270375, 270709, 261125, 262583, 265416, 265875, 269458, 268041, 258292, 264750, 295834, 299666, 266875, 259916, 255708, 262292, 268291, 258167, 273125, 265375, 254583, 254333, 261459, 257541, 257958, 258291, 266250, 261625, 271792, 255417, 254792, 270375, 255292, 255083, 260083, 256333, 259708, 259000, 256958, 256958, 259625, 261500, 255417, 259916, 262875, 255291, 259125, 261291, 261209, 262166, 256583, 256167, 258708, 255542, 255542, 258750, 254959, 253792, 257125, 256125, 256042, 279208, 262958, 256458, 260542, 257542, 264625, 269417, 264209, 266000, 268917 ] }, { "case_id": "fresh-02-fault-wrong_identity", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "detail": "Sample 99 does not identify the trusted target.", "reason": "unverified_target_identity", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "unverified_target_identity" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 266042, 269750, 265541, 270042, 267667, 259375, 268750, 266584, 270000, 268750, 267541, 261292, 263750, 268291, 257166, 263666, 264084, 261875, 268542, 267958, 270583, 275000, 269084, 262000, 270792, 267875, 266583, 268541, 269541, 265709, 265750, 261667, 266708, 263667, 262042, 259875, 268708, 272833, 266208, 264708, 262459, 256167, 260583, 267333, 263209, 270083, 263042, 277958, 268958, 265292, 267875, 268792, 267541, 266250, 277791, 331750, 283375, 269833, 261250, 262458, 265958, 266709, 262166, 283584, 261417, 260333, 275667, 268333, 261667, 265584, 261459, 268084, 269167, 268084, 265875, 267000, 266667, 266125, 260834, 257500, 261917, 265584, 260209, 263000, 261792, 255292, 255917, 260416, 257333, 257292, 263250, 256167, 261000, 294334, 268250, 267250, 272000, 271500, 261416, 271208 ] }, { "case_id": "fresh-02-fault-short_history", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "detail": "At least 100 contiguous 2 ms samples are required before physical scoring.", "reason": "insufficient_history", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "insufficient_history" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "newest_t_s": 0.6000000000000004, "source_sample_count": 20 } }, "timing_ns": [ 59500, 62709, 64625, 59458, 58959, 63916, 58750, 58875, 59125, 62125, 62333, 59375, 59125, 63708, 61333, 63875, 58958, 58875, 58792, 61833, 64041, 61708, 61875, 58666, 61875, 63542, 59125, 61709, 64792, 59041, 58375, 63750, 58458, 58791, 62625, 63583, 59000, 58541, 58542, 59000, 58792, 58709, 59250, 58500, 59041, 59291, 58792, 58667, 58625, 62041, 62917, 62542, 60083, 62708, 60166, 78709, 66000, 66208, 129333, 64500, 60958, 62792, 59875, 62958, 62958, 60041, 62583, 59458, 66000, 66542, 61666, 61333, 63208, 63084, 62292, 58750, 58667, 59625, 61083, 67916, 58375, 58666, 58542, 61791, 63125, 68000, 61417, 63625, 58166, 58708, 58959, 62209, 59125, 58375, 58458, 58500, 58209, 59250, 59042, 59250 ] }, { "case_id": "fresh-02-fault-missing_measurement", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 has invalid or out-of-range robot_contact_force_n.", "reason": "invalid_robot_contact_force_n", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_robot_contact_force_n" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 271458, 276917, 270917, 268833, 267500, 268250, 262083, 267375, 265208, 262250, 273375, 259000, 272792, 275833, 276750, 271500, 268375, 263542, 268708, 260416, 263750, 270000, 272834, 274000, 267792, 265000, 268125, 268125, 268416, 269292, 263917, 275333, 271750, 257417, 265959, 266292, 275084, 284208, 267834, 290333, 275167, 271417, 338583, 276166, 267708, 261792, 262875, 270042, 269625, 263416, 286958, 263875, 269917, 272208, 269208, 271500, 267000, 269666, 262500, 267958, 268958, 272583, 269458, 273250, 270500, 257542, 270500, 266792, 265709, 267042, 270959, 262042, 261167, 259333, 260750, 258458, 262208, 260333, 272667, 290167, 280583, 271000, 267959, 274000, 272209, 283292, 266958, 265709, 271208, 275583, 272458, 269584, 268583, 270917, 267916, 270416, 260334, 260917, 264542, 269750 ] }, { "case_id": "fresh-02-fault-unknown_presence", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "detail": "Target presence is unknown within the latest 200 ms.", "reason": "unknown_target_presence", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "unknown_target_presence" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 168792, 172792, 166833, 169500, 169459, 169708, 169000, 166584, 167083, 167834, 166875, 167750, 167000, 168583, 197417, 171875, 169542, 168208, 166542, 163416, 171084, 168083, 166292, 168000, 170167, 171292, 166875, 166416, 170709, 169708, 168583, 164209, 168166, 163250, 166208, 167625, 165500, 171458, 170916, 170666, 167584, 167541, 167666, 170000, 163208, 168875, 168917, 170375, 171667, 165417, 172917, 164791, 169875, 169625, 171250, 165291, 172291, 172792, 168250, 166583, 167500, 165500, 162292, 169125, 168292, 167250, 167708, 162125, 170875, 167417, 162791, 170583, 166000, 168083, 166708, 170792, 165250, 164959, 168625, 162834, 164875, 165958, 167542, 171833, 167667, 168250, 166166, 184417, 296459, 173166, 177375, 163041, 163500, 164000, 163500, 161708, 172208, 165834, 180292, 173667 ] }, { "case_id": "fresh-02-fault-threshold_uncertainty", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336144828e-06, "upper": 2.046823336144828e-06 }, "observed": 2.046823336144828e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091146452e-06, "upper": 1.0577925091146452e-06 }, "observed": 1.0577925091146452e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 1.0, "interval": { "lower": 0.0, "upper": 1.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "uncertainty_overlaps_threshold", "statistic": "min", "status": "unknown", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805238756817e-07, "upper": 1.0856805238756817e-07 }, "observed": 1.0856805238756817e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965562285730655e-09, "upper": 2.1965562285730655e-09 }, "observed": 2.1965562285730655e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "uncertainty_overlaps_threshold" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 306750, 312125, 297250, 292792, 292000, 291958, 290041, 293000, 296791, 296167, 294291, 294125, 294792, 300709, 329250, 295916, 298875, 304333, 301625, 304916, 296958, 295500, 294917, 297833, 294417, 298334, 298125, 309792, 303541, 299541, 300750, 299292, 293416, 289084, 297167, 294708, 308083, 381625, 301208, 304041, 291542, 301708, 290166, 290667, 292000, 291958, 295541, 319875, 297458, 293875, 292667, 290959, 291791, 291167, 289292, 292666, 289542, 294500, 296375, 293625, 293125, 294125, 292834, 298834, 298667, 304459, 291666, 289792, 290583, 292709, 289792, 290667, 291209, 290875, 290792, 289750, 294583, 291875, 290166, 290667, 291125, 316125, 297291, 300083, 297166, 296125, 293167, 291875, 292166, 290375, 291750, 291875, 304916, 392584, 305416, 310667, 292292, 293041, 292084, 295333 ] }, { "case_id": "fresh-02-fault-single_tick_contact_spike", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336144828e-06, "upper": 2.046823336144828e-06 }, "observed": 2.046823336144828e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091146452e-06, "upper": 1.0577925091146452e-06 }, "observed": 1.0577925091146452e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.1, "upper": 0.1 }, "observed": 0.1, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805238756817e-07, "upper": 1.0856805238756817e-07 }, "observed": 1.0856805238756817e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965562285730655e-09, "upper": 2.1965562285730655e-09 }, "observed": 2.1965562285730655e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 295167, 292334, 291709, 292375, 314458, 294584, 293791, 292666, 300958, 297042, 296541, 296416, 294583, 292583, 295583, 292542, 293042, 293958, 292417, 302417, 294250, 293917, 292542, 292917, 292375, 293917, 292250, 296167, 295625, 295084, 294917, 292917, 292708, 293625, 293292, 293542, 295000, 386375, 318959, 300708, 299667, 293375, 301750, 291417, 292167, 297041, 357625, 296625, 296333, 292458, 292208, 292959, 293208, 291250, 293000, 292417, 291333, 314750, 293042, 291209, 290541, 291459, 291084, 290667, 293250, 297417, 295375, 294500, 292375, 292500, 291417, 316084, 295750, 293875, 292166, 292375, 297250, 292917, 291000, 291333, 291708, 291000, 291625, 292208, 295417, 295125, 295083, 291792, 290792, 291583, 291750, 291792, 290208, 325333, 375542, 302083, 291709, 294709, 301917, 294458 ] }, { "case_id": "fresh-02-fault-missing_uncertainty", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "detail": "Packet has missing or unexpected fields.", "reason": "invalid_packet_fields", "status": "unknown" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "reason": "not_evaluated", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_packet_fields" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 3125, 3125, 3042, 3209, 3083, 3041, 3000, 2959, 2958, 3125, 3042, 3000, 3000, 3083, 3042, 3000, 3042, 3042, 3125, 2958, 3000, 3083, 3041, 3000, 3042, 3084, 3083, 3125, 3042, 3000, 3083, 3041, 3041, 3000, 3041, 3084, 3041, 3041, 3000, 3000, 3042, 3041, 3083, 3042, 3042, 3000, 3041, 3000, 3000, 2959, 2958, 2959, 2958, 3000, 3084, 3042, 2958, 2958, 2958, 3000, 3041, 2958, 2917, 2958, 3000, 3042, 2959, 3083, 2958, 3000, 3000, 3125, 3000, 3041, 2958, 3041, 3000, 3084, 3000, 3000, 3041, 3042, 2959, 2916, 3000, 3000, 3000, 3000, 3000, 2958, 3000, 2917, 2917, 2917, 2959, 3000, 2958, 2958, 2917, 3042 ] }, { "case_id": "fresh-02-fault-invalid_number", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 has invalid or out-of-range linear_speed_m_s.", "reason": "invalid_linear_speed_m_s", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_linear_speed_m_s" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 256792, 262500, 262292, 261666, 261791, 258167, 263000, 257458, 262208, 259041, 263416, 257542, 263167, 258291, 262416, 256291, 261458, 256875, 261334, 258750, 260750, 258375, 262708, 266625, 275917, 275375, 278917, 276292, 290791, 305625, 270042, 264292, 267625, 264417, 266292, 262458, 265084, 263458, 266458, 264417, 265917, 328666, 277250, 260917, 269875, 260708, 268291, 257417, 260042, 259292, 260750, 258875, 268542, 260625, 268667, 261667, 265208, 261875, 265333, 263542, 268875, 272459, 263083, 263667, 270834, 269083, 271208, 291042, 269125, 265209, 266417, 264084, 270000, 265209, 272208, 264083, 275750, 262250, 269750, 258250, 273625, 267125, 262583, 269250, 273750, 269500, 262875, 263125, 266416, 264208, 272667, 266167, 268709, 271917, 271583, 270583, 274417, 262125, 275667, 261334 ] }, { "case_id": "fresh-02-fault-inconsistent_presence", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 reports absent/unknown presence with numeric object measurements.", "reason": "contradictory_presence_measurements", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "contradictory_presence_measurements" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 289125, 271833, 270000, 267209, 268667, 269041, 270208, 269709, 268000, 271541, 266916, 260625, 261083, 271666, 268500, 273375, 272208, 268875, 265875, 265416, 268833, 266125, 270375, 266042, 270250, 275833, 271333, 278708, 273792, 274750, 269792, 270000, 274541, 273375, 268750, 266041, 267292, 270792, 266625, 263459, 265334, 261833, 264667, 270209, 267750, 270583, 268708, 270917, 267458, 267666, 264459, 263875, 269209, 269250, 263542, 265042, 360416, 277625, 270083, 267791, 283458, 272500, 278500, 263458, 259708, 260875, 265500, 270541, 265500, 264667, 267125, 273666, 264625, 265000, 262958, 263750, 264375, 268042, 264250, 259459, 264875, 268750, 265458, 265500, 260083, 264417, 259459, 267959, 263042, 269750, 272750, 270875, 264792, 264583, 269833, 261750, 269000, 270541, 267292, 265542 ] }, { "case_id": "fresh-02-fault-injected_label", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "detail": "Packet has missing or unexpected fields.", "reason": "invalid_packet_fields", "status": "unknown" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "reason": "not_evaluated", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_packet_fields" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 3125, 3458, 3250, 3084, 3083, 3125, 3042, 3042, 3083, 3042, 3042, 3042, 2916, 3083, 2959, 3042, 3000, 3000, 2959, 3000, 3041, 3041, 3000, 3000, 3208, 3084, 3041, 3041, 3083, 3042, 2958, 3042, 3042, 3083, 3000, 2958, 3000, 3042, 3000, 3000, 2959, 2958, 3041, 3000, 2958, 3083, 2959, 2917, 3041, 3125, 2958, 3000, 3083, 3041, 3000, 2958, 2958, 3000, 3083, 3042, 3042, 3000, 3000, 3000, 3042, 2959, 3000, 3042, 2958, 2958, 8000, 3083, 3084, 3000, 3000, 2917, 3000, 3000, 3000, 3042, 3000, 3000, 2959, 3000, 3000, 3042, 2917, 3000, 2958, 2958, 3000, 2958, 3083, 3042, 2958, 2958, 2917, 3000, 3000, 2917 ] }, { "case_id": "fresh-02-consistent-forgery", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336144828e-06, "upper": 2.046823336144828e-06 }, "observed": 2.046823336144828e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091146452e-06, "upper": 1.0577925091146452e-06 }, "observed": 1.0577925091146452e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805238756817e-07, "upper": 1.0856805238756817e-07 }, "observed": 1.0856805238756817e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965562285730655e-09, "upper": 2.1965562285730655e-09 }, "observed": 2.1965562285730655e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 314750, 303917, 342958, 359875, 309417, 298875, 296000, 294041, 301166, 308416, 304458, 294125, 302333, 301375, 295834, 302500, 296500, 299333, 299708, 295833, 299125, 303458, 303083, 301958, 301583, 297750, 301458, 303000, 310042, 296625, 299375, 301125, 297334, 302042, 295958, 307167, 300291, 302291, 304334, 302709, 298333, 296416, 295583, 300583, 301125, 300791, 307917, 307167, 304000, 298917, 300958, 297875, 303292, 302250, 308000, 384500, 307417, 302958, 295000, 304959, 297917, 300667, 296333, 295542, 295958, 297958, 292125, 299083, 299750, 299583, 290583, 291333, 294417, 291917, 294125, 290708, 301708, 291500, 293458, 290083, 292041, 288958, 300584, 306542, 300625, 296250, 300084, 301292, 330167, 302209, 304083, 292208, 292708, 303833, 300125, 305875, 298416, 303041, 308000, 295917 ] }, { "case_id": "fresh-03-fault-stale", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "detail": "Newest observation is more than 100 ms old.", "reason": "stale_observation", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "stale_observation" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.5000000000000001, "declared_sample_period_s": 0.002, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 275250, 356375, 264375, 271833, 265125, 269792, 273000, 263083, 274209, 270333, 269791, 264916, 286709, 281334, 262708, 266917, 268084, 270000, 265375, 268584, 324958, 262459, 260958, 273250, 263958, 266167, 267333, 269084, 269292, 263500, 265125, 266500, 269375, 265791, 267500, 266583, 266292, 260625, 263292, 257791, 256292, 257708, 265125, 259375, 259792, 258792, 260041, 262625, 262500, 259833, 280250, 262708, 260375, 259917, 261125, 260791, 261875, 264875, 258250, 259166, 262583, 268459, 346708, 278375, 263250, 275833, 263625, 268292, 259417, 260083, 263958, 263291, 259041, 258208, 263000, 258417, 258959, 259333, 258875, 261958, 259250, 258667, 258041, 259042, 258125, 257708, 261666, 259042, 279750, 261667, 260542, 260125, 267083, 275917, 259708, 258667, 258792, 259542, 259041, 262583 ] }, { "case_id": "fresh-03-fault-future", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "detail": "Newest observation is after the trusted clock.", "reason": "future_observation", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "future_observation" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": -0.20000000000000007, "declared_sample_period_s": 0.002, "newest_t_s": 0.8000000000000005, "source_sample_count": 100 } }, "timing_ns": [ 267667, 265917, 266750, 265167, 268750, 264625, 262875, 267000, 263417, 262083, 262417, 262917, 260917, 271084, 355042, 280834, 272291, 267709, 262000, 262125, 264500, 265667, 264541, 264833, 261709, 264042, 261458, 262250, 264542, 260625, 260834, 273417, 261542, 261750, 261667, 261000, 264708, 261708, 261084, 260250, 260625, 260083, 264458, 263416, 260916, 260208, 260042, 259917, 262042, 261750, 262125, 260500, 261833, 260084, 260000, 260916, 261458, 261083, 262083, 262792, 265542, 260042, 261292, 260291, 265458, 263417, 266667, 261125, 262042, 260459, 259875, 260541, 265083, 264667, 261375, 261166, 275458, 353125, 278083, 269958, 269792, 268541, 264542, 271875, 263208, 263125, 263708, 263458, 264875, 263041, 262708, 265166, 263750, 263125, 263167, 262667, 263042, 263458, 264209, 263625 ] }, { "case_id": "fresh-03-fault-gap", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "detail": "Sample 50 does not end the next 2 ms interval.", "reason": "gapped_or_irregular_history", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "gapped_or_irregular_history" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 137208, 136125, 136625, 135750, 135208, 134792, 134917, 135083, 135500, 133959, 136709, 134042, 135792, 135167, 135125, 140375, 156542, 137000, 137458, 135791, 136416, 135208, 136125, 136417, 135875, 137917, 136209, 135084, 136084, 136125, 136000, 136042, 136125, 135708, 136417, 135333, 136666, 136250, 135500, 135250, 134917, 133417, 136375, 135750, 136292, 135250, 135584, 135000, 134750, 134542, 136334, 134792, 166834, 148208, 188459, 167084, 138334, 139916, 140917, 137667, 135917, 134625, 135708, 134958, 135875, 134083, 138833, 134125, 143042, 141834, 134917, 136417, 137208, 134334, 135458, 134625, 135666, 135209, 135042, 135750, 135292, 134500, 137042, 134458, 136542, 136833, 136250, 135000, 157459, 138583, 137625, 135042, 136250, 135500, 135584, 135292, 136292, 144875, 139500, 133875 ] }, { "case_id": "fresh-03-fault-duplicate", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "detail": "Timestamp did not advance at sample 50.", "reason": "nonmonotonic_timestamps", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "nonmonotonic_timestamps" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 136125, 135584, 137583, 136125, 136667, 135917, 137167, 136416, 136000, 136959, 136209, 137125, 135375, 133875, 136917, 135333, 137000, 135417, 134125, 137166, 136000, 136667, 135667, 134167, 137125, 135833, 147167, 142291, 135042, 137166, 136750, 137417, 137209, 134792, 137833, 139583, 137291, 134875, 135000, 138083, 135958, 137209, 135500, 134917, 138959, 137792, 137625, 135708, 136542, 137833, 136292, 137458, 135416, 134541, 137041, 135667, 136083, 135500, 134917, 168458, 210792, 144250, 143625, 137750, 135875, 134500, 138708, 136375, 137917, 140625, 142625, 136375, 135542, 133667, 136750, 134417, 139250, 139042, 133584, 136000, 135000, 136250, 135584, 133833, 137041, 134750, 136500, 138334, 134666, 136458, 135292, 136500, 134750, 134208, 136208, 134750, 136583, 135250, 133625, 136250 ] }, { "case_id": "fresh-03-fault-wrong_units", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "detail": "Require the exact declared SI unit map.", "reason": "invalid_units", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_units" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 3709, 3750, 3666, 3625, 3625, 3584, 3541, 3625, 3541, 3625, 3500, 3625, 3583, 3625, 3541, 3584, 3500, 3542, 3583, 3583, 3542, 3584, 3541, 3583, 3583, 3708, 3542, 3584, 3500, 3583, 3542, 3583, 3584, 3625, 3583, 3667, 3500, 3625, 3583, 3584, 3500, 3625, 3458, 3458, 3500, 3541, 3542, 3542, 3583, 3625, 3542, 3583, 3583, 3500, 3500, 3542, 3583, 3458, 3459, 3542, 3500, 3500, 3583, 3584, 3500, 3500, 3541, 3583, 3500, 3500, 3500, 3583, 3458, 3583, 3542, 3583, 3542, 3625, 3458, 3541, 3459, 3583, 3541, 3542, 3584, 3542, 3583, 3541, 3500, 3541, 3500, 3666, 3459, 3541, 3584, 3625, 3500, 3625, 3583, 3541 ] }, { "case_id": "fresh-03-fault-wrong_frame", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "detail": "Sample 99 does not use the trusted goal frame.", "reason": "invalid_reference_frame", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_reference_frame" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 262208, 262459, 261500, 286292, 266917, 263250, 263542, 260041, 262083, 266250, 276166, 262750, 261916, 260083, 266000, 269875, 280250, 286209, 275583, 278208, 283084, 271208, 464041, 272083, 274291, 382459, 475917, 380167, 283167, 271416, 271000, 306500, 274791, 269875, 393584, 437250, 285125, 272583, 271083, 280625, 271083, 269625, 274958, 267791, 266500, 266083, 264625, 274333, 276667, 267917, 268417, 272375, 273208, 266125, 268166, 267375, 268833, 270708, 277125, 268667, 269500, 263709, 272750, 275125, 280083, 272333, 272208, 273958, 270500, 266250, 264250, 265792, 267000, 272209, 272291, 270208, 270750, 270875, 273667, 268583, 270458, 272750, 267542, 272750, 273833, 268125, 269583, 274791, 268375, 272292, 276584, 352542, 281500, 289875, 378209, 342166, 282166, 274625, 273792, 276291 ] }, { "case_id": "fresh-03-fault-wrong_identity", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "detail": "Sample 99 does not identify the trusted target.", "reason": "unverified_target_identity", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "unverified_target_identity" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 283042, 269542, 274417, 267208, 266500, 271541, 269167, 271459, 269375, 268750, 266000, 264916, 268791, 268833, 267791, 270417, 265959, 265584, 271709, 265834, 268667, 266417, 266750, 265042, 266042, 268542, 269917, 267000, 266000, 272291, 269416, 271500, 265916, 269542, 269250, 265584, 271500, 268791, 266250, 268000, 284791, 301208, 344417, 267583, 267584, 270917, 269250, 264459, 264583, 264541, 262583, 270625, 264416, 279666, 276333, 271083, 261375, 269583, 279333, 263333, 261166, 269375, 271500, 279541, 262458, 270834, 274375, 261667, 265667, 268917, 273625, 274250, 272333, 265459, 259667, 274542, 272708, 264833, 271458, 267875, 263750, 270625, 267208, 260625, 263667, 261375, 264209, 260875, 260417, 261000, 263417, 261083, 257667, 259458, 265666, 260667, 262167, 263125, 260834, 268500 ] }, { "case_id": "fresh-03-fault-short_history", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "detail": "At least 100 contiguous 2 ms samples are required before physical scoring.", "reason": "insufficient_history", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "insufficient_history" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "newest_t_s": 0.6000000000000004, "source_sample_count": 20 } }, "timing_ns": [ 166958, 83333, 64208, 65541, 61583, 61958, 63500, 62042, 62500, 61500, 63375, 62167, 63000, 62917, 60333, 68125, 59625, 59500, 63417, 62584, 59917, 59833, 62458, 59875, 60209, 68125, 61791, 60292, 59750, 59292, 63250, 59083, 59584, 63125, 59750, 59375, 59625, 59375, 62625, 60042, 59458, 59666, 60042, 59334, 62459, 60000, 59417, 63084, 60208, 59250, 59417, 62959, 65000, 60417, 59958, 59333, 63042, 60333, 62792, 59666, 60000, 62500, 59250, 60166, 62541, 59542, 59708, 59542, 59625, 63000, 59917, 59666, 59917, 59458, 60084, 60000, 59833, 60167, 63250, 59625, 60709, 60042, 59375, 59583, 59666, 58917, 59583, 60083, 65459, 59167, 59792, 62875, 60250, 60250, 59334, 59584, 60084, 59500, 59500, 60416 ] }, { "case_id": "fresh-03-fault-missing_measurement", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 has invalid or out-of-range robot_contact_force_n.", "reason": "invalid_robot_contact_force_n", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_robot_contact_force_n" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 268791, 263208, 268791, 263666, 263417, 272166, 268125, 263375, 266583, 268917, 264334, 264459, 265083, 264541, 266084, 265542, 266084, 268042, 267375, 263500, 265625, 263208, 263000, 264333, 264000, 262250, 297625, 364041, 276750, 278708, 269500, 264000, 267042, 267000, 263125, 270208, 272500, 264000, 268833, 264625, 263916, 271459, 263958, 268541, 269000, 277375, 262041, 267167, 263500, 264250, 266958, 263333, 261917, 265792, 262458, 261417, 266625, 261500, 261209, 266000, 261458, 261792, 265958, 263417, 261250, 266500, 266667, 263417, 265542, 262916, 265875, 264875, 261625, 260917, 264833, 261000, 260667, 263042, 259667, 260166, 263750, 261875, 266291, 278084, 272583, 275167, 306500, 307083, 387250, 279166, 274666, 264334, 267625, 265375, 267125, 265333, 263625, 264542, 267041, 263666 ] }, { "case_id": "fresh-03-fault-unknown_presence", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "detail": "Target presence is unknown within the latest 200 ms.", "reason": "unknown_target_presence", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "unknown_target_presence" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 163000, 167750, 165000, 167792, 162459, 162167, 162458, 162708, 164042, 162916, 161792, 164208, 163333, 162792, 162958, 163166, 163333, 162958, 163416, 163000, 166000, 163834, 162875, 163625, 162417, 165375, 161917, 163583, 163333, 164125, 162750, 162292, 162833, 163167, 175084, 161458, 163042, 162417, 161542, 162459, 162250, 161917, 161416, 163083, 162167, 163333, 161750, 161500, 163166, 163083, 162084, 163750, 160791, 161459, 161417, 163625, 162667, 163417, 162042, 161417, 161375, 161334, 161416, 162958, 162292, 162250, 163250, 166458, 173542, 165958, 172041, 165833, 165083, 167708, 167459, 185416, 261417, 174458, 172000, 164042, 162667, 162042, 162125, 162292, 162375, 162250, 165500, 160333, 163667, 163375, 161584, 160708, 159917, 161291, 164500, 159417, 159542, 161125, 162166, 160084 ] }, { "case_id": "fresh-03-fault-threshold_uncertainty", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336076708e-06, "upper": 2.046823336076708e-06 }, "observed": 2.046823336076708e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091051129e-06, "upper": 1.0577925091051129e-06 }, "observed": 1.0577925091051129e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 1.0, "interval": { "lower": 0.0, "upper": 1.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "uncertainty_overlaps_threshold", "statistic": "min", "status": "unknown", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.085680522576776e-07, "upper": 1.085680522576776e-07 }, "observed": 1.085680522576776e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965561453063387e-09, "upper": 2.1965561453063387e-09 }, "observed": 2.1965561453063387e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "uncertainty_overlaps_threshold" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 292500, 294416, 293500, 291667, 290584, 290708, 290750, 295584, 297750, 296250, 291625, 292167, 291292, 291166, 291500, 291750, 290958, 289625, 289625, 292875, 291583, 291125, 289917, 291542, 289750, 291208, 295959, 307875, 313041, 418833, 312042, 299583, 292875, 299834, 295709, 292583, 292166, 290333, 296708, 294959, 292500, 293083, 290459, 291833, 292000, 296542, 296250, 297875, 290792, 291125, 290333, 290542, 291208, 290750, 289750, 290500, 291584, 297417, 293959, 294541, 294000, 293834, 299292, 291667, 298291, 296583, 296875, 293459, 290500, 291084, 291792, 292542, 291750, 290459, 292250, 294333, 296500, 291250, 291250, 290750, 291500, 291334, 298625, 306667, 308250, 400084, 311542, 293750, 292584, 292042, 293917, 291708, 298958, 292750, 290917, 294625, 293292, 292583, 292916, 291833 ] }, { "case_id": "fresh-03-fault-single_tick_contact_spike", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336076708e-06, "upper": 2.046823336076708e-06 }, "observed": 2.046823336076708e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091051129e-06, "upper": 1.0577925091051129e-06 }, "observed": 1.0577925091051129e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.1, "upper": 0.1 }, "observed": 0.1, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.085680522576776e-07, "upper": 1.085680522576776e-07 }, "observed": 1.085680522576776e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965561453063387e-09, "upper": 2.1965561453063387e-09 }, "observed": 2.1965561453063387e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 297625, 294667, 293792, 294125, 294125, 293209, 292917, 324167, 304709, 298041, 301250, 296166, 295083, 295167, 294333, 293500, 294416, 292709, 293875, 299458, 291958, 292625, 292791, 291875, 293375, 297542, 298125, 305375, 393083, 309375, 307042, 307000, 295500, 299167, 291584, 292125, 290625, 295000, 296375, 292708, 322458, 300125, 296750, 295125, 294417, 299542, 297417, 296500, 298625, 293833, 294792, 294042, 294125, 292708, 295416, 291833, 290959, 296250, 293291, 292833, 291583, 291208, 291125, 293875, 296375, 296875, 295792, 297208, 292542, 291708, 292834, 290875, 292209, 293333, 314792, 295125, 298541, 293542, 292458, 293500, 293792, 294000, 296959, 306292, 303042, 317291, 436542, 309417, 303500, 298750, 294125, 298167, 293958, 298083, 296792, 295708, 293292, 294167, 293667, 295041 ] }, { "case_id": "fresh-03-fault-missing_uncertainty", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "detail": "Packet has missing or unexpected fields.", "reason": "invalid_packet_fields", "status": "unknown" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "reason": "not_evaluated", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_packet_fields" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 3083, 3333, 3125, 3125, 3083, 3166, 3125, 3166, 3084, 3084, 3041, 3125, 3167, 3041, 3041, 3042, 3083, 3125, 3125, 3083, 3125, 3000, 3042, 3125, 3083, 3041, 3041, 3042, 3000, 3125, 3042, 3125, 3000, 3125, 3041, 3042, 3042, 3084, 2958, 2958, 3000, 3125, 3125, 3042, 3000, 3042, 3000, 3042, 3042, 3042, 3042, 3083, 3000, 3042, 3042, 3083, 3042, 3084, 3041, 2958, 2959, 3042, 3000, 3000, 3042, 3042, 3000, 2958, 2959, 3125, 3167, 3000, 2959, 3000, 2958, 3042, 2958, 3041, 2959, 3042, 3083, 3000, 3000, 3125, 3000, 3000, 3041, 3000, 3042, 3042, 3000, 3125, 3041, 3042, 2917, 3042, 3042, 2958, 3041, 3000 ] }, { "case_id": "fresh-03-fault-invalid_number", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 has invalid or out-of-range linear_speed_m_s.", "reason": "invalid_linear_speed_m_s", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_linear_speed_m_s" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 262792, 266125, 264625, 264917, 262333, 263125, 263584, 260958, 266792, 263291, 266083, 266459, 266375, 265166, 264209, 260125, 265500, 260583, 266542, 265000, 266167, 264125, 264583, 260667, 267084, 264375, 266375, 265709, 265416, 278291, 269458, 346458, 282541, 329917, 271458, 271375, 266208, 265500, 261958, 260708, 265333, 260792, 263916, 262542, 262917, 260916, 260708, 259917, 263458, 260084, 263500, 262709, 263792, 260708, 261417, 259250, 262375, 259458, 262292, 263041, 261333, 260167, 260583, 260375, 263709, 259750, 261708, 260500, 261375, 286750, 266542, 261083, 265291, 260167, 264000, 263333, 262500, 261208, 261125, 272667, 263000, 259875, 263958, 264000, 261959, 260625, 260958, 258791, 263167, 259500, 262834, 269750, 277667, 336500, 280917, 261625, 266541, 264583, 265542, 265584 ] }, { "case_id": "fresh-03-fault-inconsistent_presence", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 reports absent/unknown presence with numeric object measurements.", "reason": "contradictory_presence_measurements", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "contradictory_presence_measurements" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 259000, 260167, 260459, 260458, 260917, 258042, 260042, 262042, 262000, 274083, 261375, 260708, 260542, 260375, 261667, 259833, 260250, 259791, 259833, 257708, 259334, 258334, 260542, 261042, 260583, 259917, 260917, 257583, 260208, 259625, 259625, 261125, 260333, 259000, 285208, 264167, 264208, 262375, 263833, 263334, 263458, 261042, 260667, 284000, 335500, 267916, 271833, 264958, 269250, 263166, 260709, 262333, 261166, 260416, 263833, 262750, 263292, 262750, 262500, 259625, 260958, 258917, 261958, 261250, 262875, 261750, 260666, 258792, 260916, 259417, 262791, 263792, 261625, 261792, 261708, 269125, 293084, 269666, 262083, 270875, 272042, 267792, 269458, 261917, 261834, 260333, 263500, 263208, 263416, 263000, 262833, 260708, 261125, 261125, 263042, 262542, 263083, 260708, 262125, 272083 ] }, { "case_id": "fresh-03-fault-injected_label", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "detail": "Packet has missing or unexpected fields.", "reason": "invalid_packet_fields", "status": "unknown" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "reason": "not_evaluated", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_packet_fields" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 3417, 3709, 3291, 3250, 3209, 3291, 3375, 3291, 3166, 3250, 3209, 3166, 3334, 3208, 3250, 3209, 3208, 3166, 3209, 3208, 3167, 3167, 3125, 3250, 3250, 3334, 3166, 3250, 3250, 3250, 3250, 3209, 3167, 3167, 3167, 3166, 3167, 3208, 3208, 3167, 3208, 3167, 3167, 3291, 3250, 3166, 3250, 3250, 3125, 3166, 3167, 3250, 3166, 3167, 3250, 3208, 3167, 3167, 3250, 3333, 3208, 3167, 3125, 3125, 3166, 3209, 3166, 3208, 3208, 3250, 3000, 2959, 3000, 3041, 3000, 2958, 3083, 3041, 3041, 3000, 2958, 3042, 3000, 3000, 2958, 2958, 3042, 3000, 2958, 3041, 3000, 2959, 3083, 2959, 3042, 3000, 3000, 2958, 2917, 2958 ] }, { "case_id": "fresh-03-consistent-forgery", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336076708e-06, "upper": 2.046823336076708e-06 }, "observed": 2.046823336076708e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091051129e-06, "upper": 1.0577925091051129e-06 }, "observed": 1.0577925091051129e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.085680522576776e-07, "upper": 1.085680522576776e-07 }, "observed": 1.085680522576776e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965561453063387e-09, "upper": 2.1965561453063387e-09 }, "observed": 2.1965561453063387e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 297167, 291917, 289125, 289250, 289375, 289916, 289500, 289917, 290042, 294708, 294417, 290416, 290542, 291917, 303000, 291250, 290417, 290625, 289167, 306375, 291417, 289708, 290625, 291917, 290333, 292583, 315042, 302917, 300250, 293875, 294041, 293541, 294875, 293625, 292250, 293750, 292625, 292167, 298083, 293833, 292750, 294125, 294041, 297500, 291458, 292708, 292750, 307458, 387208, 305334, 304333, 292167, 298750, 290792, 294667, 290875, 291875, 298167, 291750, 291084, 292709, 290958, 294500, 292750, 290708, 296334, 296000, 290875, 290750, 292875, 292917, 291083, 291417, 292250, 290917, 292666, 297416, 292542, 290292, 289916, 294542, 504917, 364917, 298417, 295916, 295958, 295042, 296416, 292625, 294958, 293833, 293333, 293041, 292667, 294791, 301583, 294542, 291208, 293041, 293208 ] }, { "case_id": "fresh-04-fault-stale", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "detail": "Newest observation is more than 100 ms old.", "reason": "stale_observation", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "stale_observation" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.5000000000000001, "declared_sample_period_s": 0.002, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 267875, 268542, 266334, 270916, 264042, 264417, 263417, 265959, 265583, 263959, 264625, 266375, 265792, 264458, 267166, 265208, 263708, 265833, 263125, 262708, 263250, 265583, 263291, 264084, 262959, 262750, 268417, 272875, 262333, 264000, 263959, 281000, 264416, 264500, 261834, 266000, 263709, 263458, 263583, 262708, 262041, 262792, 263042, 261084, 262709, 261459, 261334, 263875, 261917, 261625, 264792, 263750, 267375, 272083, 343375, 282709, 274292, 274125, 262917, 275208, 266083, 264916, 265334, 265334, 262958, 264583, 266084, 265042, 265875, 266292, 261958, 264000, 265916, 263792, 264791, 264958, 263291, 264583, 264500, 262542, 265167, 264375, 263417, 265459, 265625, 263375, 265125, 266833, 263458, 263458, 263958, 263167, 291834, 268625, 265208, 266125, 266084, 263833, 263834, 266042 ] }, { "case_id": "fresh-04-fault-future", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "detail": "Newest observation is after the trusted clock.", "reason": "future_observation", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "future_observation" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": -0.20000000000000007, "declared_sample_period_s": 0.002, "newest_t_s": 0.8000000000000005, "source_sample_count": 100 } }, "timing_ns": [ 262584, 264916, 289625, 357916, 279542, 267209, 268250, 271125, 264584, 265708, 269250, 265333, 264125, 263333, 262625, 263750, 262416, 262917, 270375, 264375, 262750, 264167, 262042, 261584, 262292, 261750, 264834, 262917, 260917, 262334, 263500, 261166, 262792, 264041, 262125, 261833, 261750, 262708, 263750, 285625, 268500, 265333, 263209, 276291, 265084, 264750, 265000, 265792, 265042, 262792, 264458, 264292, 262375, 262708, 262167, 263959, 263000, 262750, 260708, 262208, 263250, 262166, 263500, 263708, 264333, 265167, 269208, 359333, 288500, 270792, 268417, 276708, 266792, 263292, 264917, 267959, 285500, 266708, 265458, 263750, 269125, 264125, 262083, 263042, 263708, 262541, 265083, 264417, 262750, 264083, 264542, 263667, 265625, 262750, 263750, 263667, 263917, 262750, 267625, 263458 ] }, { "case_id": "fresh-04-fault-gap", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "detail": "Sample 50 does not end the next 2 ms interval.", "reason": "gapped_or_irregular_history", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "gapped_or_irregular_history" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 136584, 136834, 135959, 139791, 136666, 134166, 137750, 138084, 134125, 136625, 137625, 134417, 137000, 137083, 133916, 138458, 137417, 134125, 136791, 137708, 133875, 137417, 137750, 134083, 137000, 137292, 134250, 136709, 137334, 133792, 140250, 140792, 134125, 139833, 136833, 134541, 135625, 136375, 133625, 135833, 140292, 134875, 136333, 137250, 141792, 138875, 138542, 136375, 138750, 155125, 160084, 202583, 145542, 146000, 154042, 138875, 135375, 136667, 137625, 139916, 136709, 137500, 137584, 136834, 139666, 141834, 137458, 137791, 135041, 136417, 137625, 135166, 136291, 138625, 134625, 136083, 142333, 135125, 136291, 138000, 134666, 136708, 137042, 134666, 136458, 137542, 135000, 136791, 137666, 135125, 137084, 137625, 134292, 136625, 137417, 135084, 136875, 137667, 135167, 136625 ] }, { "case_id": "fresh-04-fault-duplicate", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "detail": "Timestamp did not advance at sample 50.", "reason": "nonmonotonic_timestamps", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "nonmonotonic_timestamps" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 134917, 136584, 134000, 133458, 135916, 135084, 133542, 137125, 135958, 156791, 140042, 145334, 141708, 137583, 135750, 135916, 137125, 135917, 135542, 136625, 135458, 135833, 137166, 135542, 135042, 136292, 135333, 134958, 139791, 134958, 135041, 137042, 136125, 134958, 136291, 135458, 135125, 137750, 135917, 135000, 136875, 135292, 134917, 140166, 138500, 134958, 136333, 135792, 134875, 137708, 135750, 138167, 145625, 136667, 145458, 222875, 145500, 144167, 145875, 136333, 137792, 143667, 135333, 148083, 140333, 138041, 134209, 137250, 135792, 134334, 136667, 138167, 134666, 136667, 134334, 134250, 136375, 134084, 133417, 136459, 156709, 141625, 137917, 136041, 135500, 136667, 134500, 134083, 136375, 135791, 134167, 137500, 146000, 146416, 140208, 141792, 142958, 138875, 140250, 138750 ] }, { "case_id": "fresh-04-fault-wrong_units", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "detail": "Require the exact declared SI unit map.", "reason": "invalid_units", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_units" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 4750, 4792, 3791, 3792, 3709, 3583, 3542, 3625, 3542, 3666, 3625, 3666, 3625, 3583, 3584, 3667, 3542, 3666, 3625, 3625, 3625, 3583, 3542, 3583, 3542, 3625, 3666, 3625, 3625, 3625, 3584, 3625, 3625, 3583, 3625, 3625, 3625, 3625, 3625, 3583, 3583, 3625, 3625, 3667, 3500, 3625, 3625, 3625, 3625, 3625, 3584, 3625, 3584, 3583, 3625, 3625, 3541, 3625, 3542, 3583, 3584, 3625, 3625, 3625, 3625, 3625, 3667, 4583, 4500, 4541, 4459, 4459, 4500, 4542, 4500, 4667, 4458, 4459, 4458, 4417, 4042, 3667, 3500, 3583, 3500, 3541, 3542, 4583, 4417, 4458, 4459, 4709, 4583, 4500, 3500, 3542, 3625, 4625, 4667, 4167 ] }, { "case_id": "fresh-04-fault-wrong_frame", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "detail": "Sample 99 does not use the trusted goal frame.", "reason": "invalid_reference_frame", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_reference_frame" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 265708, 263417, 261333, 263667, 262250, 262667, 261958, 263667, 262667, 260458, 263541, 263125, 263583, 262375, 262625, 262917, 270791, 264583, 267208, 261125, 264042, 262166, 274042, 281666, 337708, 277083, 268250, 259292, 261708, 262500, 266458, 265833, 264958, 260042, 262000, 257583, 262208, 262250, 262042, 261416, 262208, 258208, 261708, 259834, 262000, 261000, 262959, 264375, 262792, 260167, 264541, 259666, 261667, 260792, 261417, 262333, 262875, 258208, 262583, 259667, 261834, 261167, 285625, 266000, 263000, 258542, 261958, 263875, 270458, 259708, 259584, 262209, 262000, 258209, 265542, 265125, 265417, 260791, 259792, 260834, 262959, 259000, 261333, 258958, 261500, 261792, 350292, 271709, 269750, 273375, 262125, 262042, 264541, 262000, 260917, 260792, 259583, 258958, 260209, 257750 ] }, { "case_id": "fresh-04-fault-wrong_identity", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "detail": "Sample 99 does not identify the trusted target.", "reason": "unverified_target_identity", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "unverified_target_identity" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 264333, 261959, 264750, 264500, 259500, 258167, 262625, 259292, 259417, 262042, 259916, 257583, 262000, 259375, 258458, 262542, 259041, 258708, 267167, 259208, 262875, 262458, 258333, 259042, 262125, 259667, 258583, 268709, 260833, 258292, 262708, 260041, 258292, 263042, 264542, 263000, 267416, 263917, 303208, 349959, 268375, 265834, 280750, 269750, 265291, 270250, 274584, 273167, 275167, 272458, 269125, 270084, 276250, 272083, 444833, 273792, 267583, 270083, 265625, 264209, 275084, 265250, 268167, 272250, 265750, 262583, 269042, 263084, 261792, 267208, 262458, 263625, 268417, 268625, 285542, 268250, 266041, 265000, 266542, 264083, 263333, 268583, 263958, 260125, 264791, 262458, 261250, 266125, 264166, 262167, 265333, 262000, 262291, 265625, 269417, 265834, 270458, 258000, 261041, 282250 ] }, { "case_id": "fresh-04-fault-short_history", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "detail": "At least 100 contiguous 2 ms samples are required before physical scoring.", "reason": "insufficient_history", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "insufficient_history" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "newest_t_s": 0.6000000000000004, "source_sample_count": 20 } }, "timing_ns": [ 66750, 61333, 60292, 65167, 62458, 59416, 59417, 67792, 59500, 59167, 63750, 59333, 59875, 59250, 62750, 59292, 59041, 58792, 58917, 60250, 59209, 59125, 58666, 59333, 59625, 59250, 59250, 59208, 59083, 59333, 58875, 58834, 59417, 59292, 58792, 59209, 61084, 59125, 59417, 59375, 59000, 59208, 59416, 59167, 59792, 59666, 59125, 59375, 59709, 59250, 59375, 59625, 58958, 59542, 59541, 58792, 59125, 59709, 58750, 58917, 59125, 58917, 59167, 59208, 58917, 59125, 59208, 58916, 59083, 59083, 58750, 59083, 58917, 58834, 59459, 59375, 59042, 62000, 58583, 61958, 59250, 60917, 64417, 61333, 59500, 58584, 58625, 58917, 58334, 58959, 59792, 62000, 59250, 62666, 59041, 61750, 63959, 58375, 62041, 64208 ] }, { "case_id": "fresh-04-fault-missing_measurement", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 has invalid or out-of-range robot_contact_force_n.", "reason": "invalid_robot_contact_force_n", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_robot_contact_force_n" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 278166, 276625, 271458, 273750, 274666, 273083, 272167, 272208, 270750, 264125, 277208, 273042, 282208, 273416, 267625, 272833, 272125, 277125, 280708, 273583, 270375, 268417, 277000, 303917, 421417, 327583, 278250, 276167, 269125, 267041, 270500, 267958, 269958, 261166, 262709, 259875, 261792, 267291, 272167, 258875, 258167, 256667, 257708, 257583, 259083, 255417, 257667, 255042, 259458, 263583, 258958, 253417, 255709, 257208, 264541, 263125, 259708, 259458, 261000, 262792, 300750, 280833, 273209, 268625, 273250, 277166, 270000, 278917, 275500, 269583, 279000, 280833, 274709, 276042, 277625, 279209, 277125, 281125, 284958, 274333, 279750, 278791, 273250, 275750, 282291, 363292, 282792, 285042, 268875, 272208, 275833, 275666, 283417, 282583, 273958, 283916, 275583, 273875, 282625, 279500 ] }, { "case_id": "fresh-04-fault-unknown_presence", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "detail": "Target presence is unknown within the latest 200 ms.", "reason": "unknown_target_presence", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "unknown_target_presence" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 176000, 181375, 166625, 172416, 172542, 175125, 170083, 172917, 172792, 170791, 190167, 166208, 170083, 163417, 167000, 168750, 167125, 167833, 169209, 167250, 177667, 179291, 187833, 174458, 176500, 170208, 180166, 168542, 171333, 171792, 171833, 166666, 169792, 169250, 169125, 172500, 178000, 174625, 187625, 212292, 169750, 166916, 167583, 166875, 165167, 165500, 164292, 163875, 165791, 164625, 165708, 165333, 163667, 162125, 168542, 163375, 163667, 167125, 165625, 166750, 174417, 260084, 177167, 169917, 180041, 163667, 162042, 165292, 165416, 160875, 166833, 164708, 166875, 169291, 178458, 165459, 164500, 166167, 168875, 170917, 167083, 170500, 170042, 171333, 175917, 175375, 168125, 163667, 162458, 163584, 162166, 162625, 167625, 163625, 177000, 168708, 164000, 182833, 171834, 170542 ] }, { "case_id": "fresh-04-fault-threshold_uncertainty", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233362159167e-06, "upper": 2.0468233362159167e-06 }, "observed": 2.0468233362159167e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091201562e-06, "upper": 1.0577925091201562e-06 }, "observed": 1.0577925091201562e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 1.0, "interval": { "lower": 0.0, "upper": 1.2942989247886612 }, "observed": 0.29429892478866115, "operator": "gt", "reason": "uncertainty_overlaps_threshold", "statistic": "min", "status": "unknown", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08568052346597e-07, "upper": 1.08568052346597e-07 }, "observed": 1.08568052346597e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556117550763e-09, "upper": 2.196556117550763e-09 }, "observed": 2.196556117550763e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "uncertainty_overlaps_threshold" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 313625, 312834, 308750, 299709, 300625, 306208, 306375, 302375, 320542, 301208, 299084, 299291, 293625, 293042, 291333, 300917, 298917, 312958, 300750, 304958, 330958, 408333, 318167, 315792, 322708, 305083, 306542, 309041, 304208, 307375, 299375, 302833, 304667, 300333, 304667, 311041, 292625, 294209, 294792, 293542, 293334, 309542, 310875, 300459, 297500, 297250, 295708, 304291, 291292, 297042, 295625, 293833, 304167, 326709, 305083, 304209, 306583, 300416, 292708, 296042, 298375, 304792, 300375, 302625, 307167, 305250, 300167, 297958, 305166, 301042, 297083, 295291, 290625, 297166, 321333, 298000, 299250, 325666, 388875, 331083, 302500, 296458, 298334, 312708, 316792, 317041, 301125, 300833, 301000, 302750, 289208, 294250, 288875, 298792, 302125, 293209, 287666, 301166, 288833, 294333 ] }, { "case_id": "fresh-04-fault-single_tick_contact_spike", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233362159167e-06, "upper": 2.0468233362159167e-06 }, "observed": 2.0468233362159167e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091201562e-06, "upper": 1.0577925091201562e-06 }, "observed": 1.0577925091201562e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.1, "upper": 0.1 }, "observed": 0.1, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429892478866115, "upper": 0.29429892478866115 }, "observed": 0.29429892478866115, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08568052346597e-07, "upper": 1.08568052346597e-07 }, "observed": 1.08568052346597e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556117550763e-09, "upper": 2.196556117550763e-09 }, "observed": 2.196556117550763e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 305541, 295209, 294708, 295583, 289166, 291875, 288875, 288917, 297042, 304250, 296542, 292125, 289666, 291416, 303958, 293625, 295500, 296583, 297625, 303667, 309875, 319917, 304459, 299667, 298542, 295875, 294625, 292709, 294417, 294625, 293209, 293125, 290959, 292208, 293792, 292750, 295625, 298917, 303417, 305750, 300042, 296417, 302459, 290708, 296791, 298625, 303125, 304500, 300208, 310583, 304875, 292000, 293083, 301917, 308708, 303833, 305750, 307583, 299958, 291250, 295583, 306583, 300041, 306750, 299666, 299666, 299791, 301042, 299709, 301459, 293625, 292667, 292208, 293041, 306875, 368791, 316041, 310084, 304375, 292916, 307541, 311666, 309792, 307750, 304791, 297458, 296917, 290709, 290625, 292250, 290583, 293708, 293084, 293334, 296042, 300833, 292375, 294916, 298125, 292250 ] }, { "case_id": "fresh-04-fault-missing_uncertainty", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "detail": "Packet has missing or unexpected fields.", "reason": "invalid_packet_fields", "status": "unknown" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "reason": "not_evaluated", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_packet_fields" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 3166, 3125, 3208, 3000, 3000, 3042, 3084, 3208, 3042, 3167, 2958, 3083, 3042, 3000, 3000, 3042, 3042, 3000, 3000, 3000, 3042, 3042, 3042, 3042, 3042, 2958, 3000, 2959, 3042, 3000, 3000, 3000, 2958, 3042, 2958, 2959, 3041, 2959, 3000, 2959, 3042, 3000, 2958, 2959, 3000, 3000, 3000, 2959, 2958, 2959, 3042, 2958, 2958, 2958, 2959, 2958, 3000, 2958, 2916, 3041, 3041, 2958, 2958, 3000, 3000, 3000, 3042, 2875, 2958, 2958, 3000, 3041, 2958, 3000, 3000, 3000, 2958, 3000, 2958, 2958, 3041, 2959, 3000, 2916, 2958, 3000, 2917, 3000, 2917, 2958, 2958, 3000, 2958, 3000, 2958, 2959, 3000, 2959, 3000, 2875 ] }, { "case_id": "fresh-04-fault-invalid_number", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 has invalid or out-of-range linear_speed_m_s.", "reason": "invalid_linear_speed_m_s", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_linear_speed_m_s" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 260542, 259292, 259208, 259416, 258416, 257500, 258875, 261375, 276875, 263500, 271333, 284000, 262583, 270792, 263417, 265709, 262041, 262125, 263625, 318666, 371000, 281541, 280208, 276250, 287458, 272041, 270292, 268583, 265000, 268000, 268041, 271416, 286708, 261250, 263959, 262916, 262541, 268791, 261291, 262791, 262333, 263625, 261666, 259458, 268167, 265500, 266792, 267084, 264167, 266375, 264833, 267000, 266250, 262583, 266041, 266625, 265542, 265209, 262333, 270458, 266584, 267459, 266625, 261917, 265250, 263708, 261416, 266208, 265417, 265334, 266042, 265042, 265417, 264666, 265541, 264250, 281125, 280875, 279292, 280875, 281667, 295500, 330167, 270792, 284792, 284000, 269125, 282416, 267542, 282000, 279250, 275000, 277958, 270375, 278250, 278000, 274417, 280333, 269458, 279750 ] }, { "case_id": "fresh-04-fault-inconsistent_presence", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 reports absent/unknown presence with numeric object measurements.", "reason": "contradictory_presence_measurements", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "contradictory_presence_measurements" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 279250, 267875, 267208, 275542, 269667, 276750, 272542, 309458, 283500, 275083, 275500, 277708, 269792, 263542, 264125, 266458, 271584, 276583, 277209, 280500, 290667, 271917, 271416, 276250, 262167, 276125, 271416, 267375, 275875, 271209, 372167, 279375, 273167, 277500, 267583, 268792, 276250, 271958, 269958, 269667, 273084, 275667, 268666, 287708, 266375, 275292, 264042, 265250, 273709, 283458, 267875, 276000, 268708, 283750, 272042, 262833, 262875, 271917, 271375, 257041, 261333, 260333, 264042, 272084, 265542, 268416, 259917, 258750, 261042, 260041, 263083, 259709, 270000, 263625, 264667, 258916, 260667, 260333, 264042, 258625, 279000, 269625, 272125, 266625, 266459, 264208, 260500, 261417, 260791, 259125, 260791, 271667, 298250, 318000, 283667, 274125, 261167, 264792, 265375, 265709 ] }, { "case_id": "fresh-04-fault-injected_label", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "detail": "Packet has missing or unexpected fields.", "reason": "invalid_packet_fields", "status": "unknown" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "reason": "not_evaluated", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_packet_fields" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 3125, 3334, 3125, 3209, 3000, 3000, 3000, 3000, 3041, 3000, 3083, 3000, 3000, 3042, 3042, 3083, 3083, 3042, 3041, 2958, 3000, 3000, 3000, 3000, 3042, 3041, 3041, 3042, 3000, 3000, 3041, 3041, 3084, 3916, 3958, 3750, 3083, 3041, 3083, 3125, 3041, 3000, 3083, 3042, 3083, 3084, 3041, 3083, 3042, 3042, 3000, 2958, 3000, 3000, 3042, 2958, 3041, 3000, 2958, 3000, 2958, 3000, 2958, 3000, 2958, 2958, 3041, 2916, 3000, 3000, 3041, 2958, 2959, 2917, 2958, 2958, 3042, 3042, 2959, 3000, 3000, 2958, 2959, 3042, 3000, 2958, 3000, 3041, 3041, 3041, 3000, 3000, 2875, 2958, 3000, 3000, 8458, 3042, 3000, 3000 ] }, { "case_id": "fresh-04-consistent-forgery", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233362159167e-06, "upper": 2.0468233362159167e-06 }, "observed": 2.0468233362159167e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925091201562e-06, "upper": 1.0577925091201562e-06 }, "observed": 1.0577925091201562e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429892478866115, "upper": 0.29429892478866115 }, "observed": 0.29429892478866115, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08568052346597e-07, "upper": 1.08568052346597e-07 }, "observed": 1.08568052346597e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556117550763e-09, "upper": 2.196556117550763e-09 }, "observed": 2.196556117550763e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 295542, 293125, 318083, 293791, 292541, 290750, 291875, 292416, 296583, 296167, 293042, 294000, 296833, 295833, 292791, 291542, 290625, 290792, 291167, 296000, 291916, 291417, 291583, 291625, 290625, 293250, 296042, 292917, 309041, 291750, 291167, 296708, 295458, 293416, 291041, 398208, 316167, 303917, 307875, 303375, 294833, 294125, 294417, 295000, 293541, 293583, 293917, 296542, 295084, 297833, 297417, 296000, 294291, 291542, 291458, 291458, 292208, 297042, 293166, 292250, 292750, 292917, 293459, 298000, 292667, 298375, 302166, 299125, 301625, 316708, 305458, 298959, 297917, 300250, 296708, 298334, 302000, 298500, 288959, 298875, 296458, 298416, 294542, 293417, 299042, 297875, 302084, 296917, 301708, 300041, 303959, 396625, 309667, 303916, 298250, 297125, 299334, 295208, 298500, 295125 ] }, { "case_id": "fresh-05-fault-stale", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "detail": "Newest observation is more than 100 ms old.", "reason": "stale_observation", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "stale_observation" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.5000000000000001, "declared_sample_period_s": 0.002, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 263416, 264042, 260791, 265459, 265708, 261625, 266542, 264709, 259542, 265292, 262625, 257583, 262959, 264041, 258584, 264833, 266792, 262500, 264292, 262458, 258167, 264084, 262833, 257291, 264666, 265250, 258625, 263750, 262542, 258375, 285833, 268166, 264792, 266584, 266625, 272583, 272083, 265708, 262250, 269292, 276667, 339917, 275459, 273166, 266125, 281292, 265292, 280250, 265750, 266584, 262334, 265833, 265292, 262125, 268708, 265208, 260709, 264042, 264833, 260750, 265458, 264625, 263333, 265500, 265750, 262209, 266083, 285875, 263625, 263500, 261167, 259709, 262833, 260791, 259000, 260833, 260292, 259416, 262541, 262625, 260125, 261417, 261500, 261750, 262291, 261625, 259417, 262250, 260459, 259250, 261833, 260750, 258125, 260125, 260833, 259083, 260459, 260458, 258583, 261708 ] }, { "case_id": "fresh-05-fault-future", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "detail": "Newest observation is after the trusted clock.", "reason": "future_observation", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "future_observation" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": -0.20000000000000007, "declared_sample_period_s": 0.002, "newest_t_s": 0.8000000000000005, "source_sample_count": 100 } }, "timing_ns": [ 266167, 266250, 259334, 264791, 265375, 260333, 259834, 261375, 264041, 262833, 262458, 265084, 257750, 261333, 258500, 257792, 262750, 258916, 260500, 262167, 258542, 258208, 261584, 258750, 259834, 265541, 260458, 259500, 261292, 258750, 258792, 261750, 282291, 264500, 265917, 262000, 259083, 264042, 261417, 260584, 265375, 261417, 260583, 264625, 260250, 259166, 263958, 260291, 260416, 264250, 260500, 261166, 275625, 271792, 266125, 275208, 358792, 269917, 265459, 258375, 263750, 262375, 258167, 258250, 262916, 259708, 259250, 261750, 259583, 259542, 284250, 263167, 261500, 264208, 261625, 261334, 265292, 260209, 259375, 270375, 260792, 263125, 272791, 266791, 271958, 275375, 275542, 269542, 273334, 271667, 271334, 268625, 267250, 275500, 279333, 274209, 265459, 268833, 268292, 265834 ] }, { "case_id": "fresh-05-fault-gap", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "detail": "Sample 50 does not end the next 2 ms interval.", "reason": "gapped_or_irregular_history", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "gapped_or_irregular_history" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 142291, 157417, 140125, 136000, 135458, 135084, 138041, 137792, 138125, 133708, 138417, 136125, 143458, 139000, 140208, 137625, 143000, 137166, 139875, 153542, 151625, 159583, 193000, 143209, 138583, 133833, 137583, 145000, 139750, 144125, 135208, 138041, 141667, 139209, 140542, 140833, 140292, 134709, 139667, 137875, 134417, 132375, 137334, 137667, 135958, 137542, 139333, 137500, 139542, 132875, 140333, 137250, 137917, 137417, 139625, 139208, 137208, 138292, 139583, 132083, 134042, 136209, 139042, 134125, 139541, 132416, 134959, 132042, 149416, 138625, 137750, 142375, 139333, 157791, 142667, 138875, 138041, 142375, 143542, 139167, 136917, 138625, 138416, 133625, 134583, 136500, 133834, 133958, 136667, 136500, 139458, 137042, 134375, 133750, 141541, 142000, 141917, 138083, 137709, 138834 ] }, { "case_id": "fresh-05-fault-duplicate", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "detail": "Timestamp did not advance at sample 50.", "reason": "nonmonotonic_timestamps", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "nonmonotonic_timestamps" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 140792, 139041, 139000, 139083, 136167, 142125, 137791, 137708, 138167, 137834, 138959, 135875, 139292, 135791, 138625, 139500, 138667, 141834, 141292, 140250, 138375, 138917, 138459, 136792, 137333, 141917, 147500, 146875, 194250, 148375, 138084, 133125, 136250, 137208, 132417, 134667, 142291, 146667, 140291, 135625, 139791, 137167, 137708, 137333, 135917, 134875, 139750, 139750, 138375, 141083, 139708, 138250, 134333, 133208, 133208, 133875, 132584, 133667, 133209, 133834, 135334, 133208, 134584, 133416, 133250, 134875, 133458, 135000, 137875, 133458, 136041, 134167, 135459, 133916, 134125, 135584, 133375, 134917, 134291, 133792, 135084, 133709, 135625, 133291, 133042, 143583, 137166, 134334, 133959, 137917, 135500, 132667, 134125, 132250, 132542, 135083, 133000, 134833, 132792, 132458 ] }, { "case_id": "fresh-05-fault-wrong_units", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "detail": "Require the exact declared SI unit map.", "reason": "invalid_units", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_units" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 3583, 3791, 3708, 3625, 3542, 3500, 3458, 3583, 3500, 3500, 3458, 3459, 3417, 3625, 3500, 3542, 3500, 3459, 3625, 3500, 3500, 3458, 3459, 3500, 3500, 3542, 3583, 3542, 3458, 3584, 3541, 3583, 3583, 3542, 3584, 3500, 3500, 3583, 3500, 3541, 3583, 3583, 3500, 3417, 3459, 3542, 3500, 3542, 3500, 3541, 3500, 3458, 3500, 3500, 3500, 3500, 3459, 3500, 3459, 3500, 3500, 3417, 3417, 3584, 3458, 3500, 3459, 3458, 3500, 3542, 3500, 3500, 3500, 3459, 3583, 3500, 3542, 3500, 3541, 3458, 3500, 3459, 3458, 3542, 3500, 3541, 3458, 3459, 3583, 3458, 3500, 3500, 3542, 3541, 3583, 3584, 3458, 3542, 3500, 3541 ] }, { "case_id": "fresh-05-fault-wrong_frame", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "detail": "Sample 99 does not use the trusted goal frame.", "reason": "invalid_reference_frame", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_reference_frame" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 262791, 264375, 265333, 260708, 258833, 258500, 260834, 259000, 259292, 259125, 259250, 270083, 395291, 272500, 266167, 258833, 262834, 259375, 262625, 265209, 258417, 258750, 257792, 258875, 257916, 262458, 259250, 281208, 260959, 260792, 260417, 260208, 259167, 259667, 259667, 258708, 258833, 259041, 259666, 259083, 259083, 258834, 259583, 259417, 258792, 258791, 259625, 259625, 259375, 258958, 258709, 258834, 258375, 259583, 259250, 259333, 271083, 259583, 259250, 259375, 258875, 259166, 259833, 257667, 258291, 280625, 263750, 261167, 259917, 258917, 260125, 260166, 258584, 265542, 275083, 354000, 265000, 259958, 260209, 267084, 259709, 262000, 259209, 258375, 256709, 258166, 258041, 257375, 256667, 257875, 262000, 265750, 262166, 262833, 268916, 263500, 265167, 265666, 264083, 264625 ] }, { "case_id": "fresh-05-fault-wrong_identity", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "detail": "Sample 99 does not identify the trusted target.", "reason": "unverified_target_identity", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "unverified_target_identity" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 258792, 259209, 257792, 258417, 257042, 258708, 262666, 257500, 259125, 258208, 257791, 257625, 258750, 257250, 256416, 256333, 260333, 256375, 258292, 261417, 260459, 270584, 257625, 257375, 257125, 259542, 273042, 366750, 274500, 268250, 265625, 254833, 254875, 258833, 256916, 262541, 255625, 256416, 257292, 256583, 255833, 261959, 267167, 264208, 258917, 270333, 264750, 261042, 261792, 257125, 264583, 266334, 262792, 270292, 255709, 255834, 256041, 254584, 255625, 255583, 255541, 254583, 257083, 260208, 259792, 265875, 260584, 261500, 265041, 271625, 263375, 261416, 261875, 268667, 264459, 271708, 269875, 260625, 264959, 265916, 264250, 263042, 260125, 265125, 262125, 269333, 269250, 265792, 264625, 272166, 328375, 272084, 269500, 279750, 272875, 264416, 265875, 260750, 260042, 290625 ] }, { "case_id": "fresh-05-fault-short_history", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "detail": "At least 100 contiguous 2 ms samples are required before physical scoring.", "reason": "insufficient_history", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "insufficient_history" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "newest_t_s": 0.6000000000000004, "source_sample_count": 20 } }, "timing_ns": [ 61666, 64708, 60208, 64500, 58709, 59417, 65041, 63750, 62458, 64291, 58750, 62542, 59292, 61875, 59208, 59000, 63667, 62334, 63959, 58584, 59209, 59083, 58666, 59125, 58916, 58708, 58583, 58666, 58417, 59292, 59250, 58333, 58875, 58959, 58459, 59292, 59083, 58917, 59208, 59250, 58709, 59292, 59625, 58833, 59250, 62333, 63500, 59291, 64542, 58584, 58875, 59417, 62542, 58834, 59500, 61833, 59000, 62166, 63417, 62042, 64416, 58875, 60750, 63208, 62000, 64167, 62417, 63458, 58833, 59458, 58959, 59042, 59291, 58667, 59125, 59250, 61750, 58958, 67208, 58750, 63500, 59500, 59125, 60125, 59708, 62333, 64208, 59541, 61958, 63958, 59334, 58625, 62292, 59333, 63625, 59125, 61750, 63416, 63625, 59208 ] }, { "case_id": "fresh-05-fault-missing_measurement", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 has invalid or out-of-range robot_contact_force_n.", "reason": "invalid_robot_contact_force_n", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_robot_contact_force_n" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 271167, 260959, 268250, 266000, 265542, 265208, 265416, 270500, 269709, 275000, 266833, 261667, 264458, 259750, 271958, 350542, 277417, 270500, 278083, 262834, 264292, 271167, 265250, 262833, 271333, 260167, 268083, 298416, 274209, 271750, 277667, 271292, 274541, 273917, 266167, 266666, 273208, 266041, 270792, 268458, 270375, 271042, 279959, 284417, 277666, 274875, 271875, 270917, 281083, 275208, 278458, 282334, 274958, 274250, 273041, 278666, 278833, 271875, 272500, 264417, 270667, 267125, 270042, 295792, 266083, 263042, 270084, 269666, 266875, 270375, 264709, 270458, 274875, 264917, 268458, 307959, 291542, 266083, 289375, 267334, 265208, 265041, 265583, 265042, 265708, 263583, 266334, 270459, 262667, 264375, 261208, 255333, 260625, 276083, 260208, 267792, 267875, 260583, 261584, 271875 ] }, { "case_id": "fresh-05-fault-unknown_presence", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "detail": "Target presence is unknown within the latest 200 ms.", "reason": "unknown_target_presence", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "unknown_target_presence" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 164375, 169584, 166167, 174291, 166667, 162083, 165209, 165791, 162833, 169458, 168458, 170000, 175500, 170041, 167334, 165333, 163083, 167084, 168000, 167042, 162625, 164750, 168541, 166959, 170916, 166334, 166750, 166833, 167792, 168458, 168875, 172916, 168167, 164583, 171167, 162125, 169584, 161541, 172125, 167375, 166334, 168875, 163375, 170334, 166500, 169625, 169000, 172000, 174333, 188792, 175167, 195875, 173875, 253292, 169583, 169667, 169083, 169500, 165834, 161458, 167667, 167334, 161583, 168750, 166791, 174917, 166875, 173375, 163042, 162792, 168958, 167334, 166208, 167250, 166291, 168625, 175458, 163750, 170708, 171417, 167000, 166625, 169083, 170208, 170542, 167292, 166791, 170875, 172375, 166250, 164416, 161958, 164125, 162000, 162750, 167375, 168041, 168875, 166333, 170792 ] }, { "case_id": "fresh-05-fault-threshold_uncertainty", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233361822243e-06, "upper": 2.0468233361822243e-06 }, "observed": 2.0468233361822243e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.057792509073021e-06, "upper": 1.057792509073021e-06 }, "observed": 1.057792509073021e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 1.0, "interval": { "lower": 0.0, "upper": 1.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "uncertainty_overlaps_threshold", "statistic": "min", "status": "unknown", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805238887924e-07, "upper": 1.0856805238887924e-07 }, "observed": 1.0856805238887924e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19655632571758e-09, "upper": 2.19655632571758e-09 }, "observed": 2.19655632571758e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "uncertainty_overlaps_threshold" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 309833, 298791, 299584, 299625, 294042, 300042, 294958, 298542, 303959, 298667, 301125, 298583, 298667, 301000, 300875, 306083, 390625, 335708, 308000, 298416, 298833, 300667, 303042, 303125, 295458, 297084, 316708, 303000, 298542, 300709, 300125, 296667, 302709, 295959, 299541, 300417, 304709, 298750, 298625, 308375, 301375, 298000, 297458, 295250, 294375, 294375, 298041, 295875, 294458, 293584, 294208, 294209, 294083, 293375, 294375, 294584, 293042, 297250, 294500, 312875, 302250, 297125, 293916, 292708, 294959, 299000, 298166, 307375, 305000, 310667, 400417, 317584, 308250, 293000, 298542, 298708, 301958, 300000, 302292, 298333, 303208, 297083, 295666, 300500, 300084, 295792, 293958, 297500, 299000, 302125, 305625, 300000, 314167, 301041, 310667, 306042, 303041, 304625, 304250, 300750 ] }, { "case_id": "fresh-05-fault-single_tick_contact_spike", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233361822243e-06, "upper": 2.0468233361822243e-06 }, "observed": 2.0468233361822243e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.057792509073021e-06, "upper": 1.057792509073021e-06 }, "observed": 1.057792509073021e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.1, "upper": 0.1 }, "observed": 0.1, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805238887924e-07, "upper": 1.0856805238887924e-07 }, "observed": 1.0856805238887924e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19655632571758e-09, "upper": 2.19655632571758e-09 }, "observed": 2.19655632571758e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 293375, 297125, 291709, 306791, 290917, 291583, 293084, 295000, 294709, 296125, 292333, 299167, 292000, 300209, 388125, 301667, 308709, 293125, 296875, 289083, 294709, 291417, 290625, 290750, 289666, 295458, 293083, 289709, 293291, 289042, 300334, 294666, 289083, 287500, 290333, 296708, 287542, 295333, 295292, 292791, 291708, 288500, 292209, 294417, 304166, 298834, 296542, 300208, 315583, 299625, 299084, 289542, 290667, 291833, 288584, 303000, 291417, 296375, 299958, 292792, 291750, 295250, 303083, 307917, 296417, 289958, 294500, 292625, 290000, 313125, 321750, 323750, 303584, 303083, 300250, 297542, 302375, 308167, 296083, 293625, 293708, 298458, 362542, 299041, 298083, 296458, 294292, 294333, 293208, 292625, 296125, 293500, 294833, 298708, 294917, 295750, 296792, 293208, 293417, 294292 ] }, { "case_id": "fresh-05-fault-missing_uncertainty", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "detail": "Packet has missing or unexpected fields.", "reason": "invalid_packet_fields", "status": "unknown" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "reason": "not_evaluated", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_packet_fields" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 3208, 3125, 3125, 3208, 3084, 3125, 3166, 3000, 3125, 3125, 3125, 3125, 3083, 3042, 3042, 3000, 3083, 3000, 3084, 3083, 3084, 3000, 3000, 3041, 3083, 3084, 3125, 3125, 3000, 3083, 3083, 3042, 3042, 3000, 3042, 3000, 3000, 3000, 3042, 3000, 3041, 3125, 3083, 3125, 2959, 3000, 3000, 3042, 3000, 3000, 3084, 3042, 3084, 3041, 3084, 3042, 3000, 3000, 3042, 3000, 3000, 3000, 3000, 3000, 3083, 3083, 3084, 3042, 3000, 3000, 3041, 3083, 3000, 3000, 3084, 3000, 3084, 3000, 3042, 3000, 3042, 3000, 3042, 3042, 3000, 3042, 3042, 3000, 3042, 3000, 3000, 3042, 3000, 2958, 3167, 3083, 3083, 2959, 3125, 3000 ] }, { "case_id": "fresh-05-fault-invalid_number", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 has invalid or out-of-range linear_speed_m_s.", "reason": "invalid_linear_speed_m_s", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_linear_speed_m_s" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 262167, 263333, 262500, 261791, 261542, 259292, 262125, 261208, 260291, 261625, 260334, 267167, 354209, 278583, 274625, 270625, 267792, 265958, 269292, 264125, 262583, 265416, 266083, 264000, 263916, 265375, 264375, 266084, 268167, 264084, 265083, 265875, 266084, 265041, 264750, 262375, 264333, 264625, 262041, 265167, 264292, 263083, 266875, 265750, 262583, 266416, 264667, 262500, 265084, 262500, 291709, 270667, 266834, 263250, 264250, 264958, 265000, 265417, 265334, 263667, 264375, 262500, 263791, 265208, 272583, 262875, 264833, 264125, 260250, 266000, 264916, 261708, 266459, 267292, 271708, 367500, 272709, 277167, 263041, 262666, 265625, 265167, 266583, 266417, 264750, 263250, 262916, 265959, 262833, 263375, 264709, 263292, 263417, 264083, 264708, 264584, 262708, 261500, 263708, 264958 ] }, { "case_id": "fresh-05-fault-inconsistent_presence", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 reports absent/unknown presence with numeric object measurements.", "reason": "contradictory_presence_measurements", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "contradictory_presence_measurements" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 258375, 264125, 262000, 261083, 262667, 259375, 263709, 259625, 262625, 259750, 264167, 257167, 263291, 272708, 277041, 272750, 282209, 300750, 308250, 304125, 367208, 328458, 432958, 267500, 274291, 284334, 487333, 337084, 272375, 266125, 266084, 264917, 266208, 265291, 265833, 262750, 262375, 258625, 262209, 259041, 262375, 263958, 266916, 263375, 267333, 264333, 266625, 262750, 265583, 262625, 270209, 267583, 266208, 260333, 263125, 263875, 266541, 259666, 268083, 264042, 264667, 267416, 264916, 261792, 266375, 262542, 273584, 266750, 272167, 266750, 272500, 266125, 266334, 263167, 267417, 265750, 273375, 264417, 267250, 274208, 276458, 279000, 275375, 272500, 269834, 266209, 293209, 370583, 283417, 329250, 277542, 262459, 286333, 271250, 269542, 262917, 268834, 262083, 266333, 264000 ] }, { "case_id": "fresh-05-fault-injected_label", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "detail": "Packet has missing or unexpected fields.", "reason": "invalid_packet_fields", "status": "unknown" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "reason": "not_evaluated", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_packet_fields" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 3209, 6791, 3208, 3208, 3167, 3167, 3208, 3208, 3250, 3167, 3208, 3209, 3166, 3166, 3125, 3167, 3167, 3125, 3208, 3166, 3208, 3125, 3250, 3166, 3167, 3292, 3208, 3167, 3167, 3125, 3166, 3042, 3167, 3125, 3125, 3167, 3042, 3166, 3125, 3125, 3084, 3084, 3125, 3125, 3083, 3042, 3083, 3167, 3083, 3083, 3208, 3250, 3000, 3084, 3084, 3125, 3042, 3083, 3042, 3042, 3125, 3083, 3166, 3125, 3000, 3042, 3125, 3083, 3792, 3834, 3792, 3916, 3916, 3792, 3500, 3167, 3083, 3125, 3166, 3083, 3042, 3083, 3125, 3125, 3250, 3167, 3125, 3083, 3083, 3125, 3167, 3125, 3084, 3167, 3083, 3166, 3042, 3083, 3125, 3083 ] }, { "case_id": "fresh-05-consistent-forgery", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233361822243e-06, "upper": 2.0468233361822243e-06 }, "observed": 2.0468233361822243e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.057792509073021e-06, "upper": 1.057792509073021e-06 }, "observed": 1.057792509073021e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805238887924e-07, "upper": 1.0856805238887924e-07 }, "observed": 1.0856805238887924e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19655632571758e-09, "upper": 2.19655632571758e-09 }, "observed": 2.19655632571758e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 318166, 304042, 301125, 304125, 300333, 303416, 306166, 300208, 299209, 305667, 298208, 302625, 314167, 304208, 313125, 305417, 306125, 304125, 311875, 311083, 300541, 309375, 301459, 315166, 297875, 358708, 411042, 360375, 306042, 297709, 303792, 296416, 296209, 296625, 298042, 296541, 294583, 294542, 299875, 295542, 295292, 296083, 295291, 296208, 299375, 295375, 314792, 309417, 299625, 302458, 292666, 296834, 307333, 295125, 295500, 297917, 297750, 313292, 308125, 308791, 307875, 304167, 302584, 312541, 315250, 314791, 315625, 305542, 297000, 309417, 313167, 317250, 306334, 313250, 299667, 296750, 300250, 297667, 297375, 340375, 305250, 337250, 422541, 308709, 307542, 311667, 318083, 317750, 318833, 314125, 304625, 319250, 315125, 306500, 315625, 320791, 319959, 301709, 300792, 299791 ] }, { "case_id": "fresh-06-fault-stale", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "detail": "Newest observation is more than 100 ms old.", "reason": "stale_observation", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "stale_observation" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.5000000000000001, "declared_sample_period_s": 0.002, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 275042, 273250, 268625, 278125, 284083, 273875, 280458, 284333, 269292, 268625, 271416, 268250, 622375, 278500, 461250, 493000, 390250, 343333, 450125, 292042, 283042, 273208, 330084, 373250, 275500, 273958, 270125, 275459, 270875, 276125, 273208, 326792, 274000, 373125, 317041, 288375, 290125, 279417, 274500, 285833, 282417, 291625, 286167, 273709, 272166, 271750, 380334, 312083, 305833, 290333, 526541, 285833, 276416, 275416, 275083, 274209, 271375, 270125, 268625, 278875, 269666, 275625, 271250, 281417, 287041, 268917, 289708, 287750, 267875, 275375, 279833, 286375, 279708, 274167, 285167, 282792, 288125, 293042, 337042, 328916, 290333, 334000, 371292, 280583, 284708, 271166, 269459, 273208, 268666, 280708, 269125, 274500, 269333, 270917, 268292, 267000, 267209, 273542, 273875, 267542 ] }, { "case_id": "fresh-06-fault-future", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "detail": "Newest observation is after the trusted clock.", "reason": "future_observation", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "future_observation" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": -0.20000000000000007, "declared_sample_period_s": 0.002, "newest_t_s": 0.8000000000000005, "source_sample_count": 100 } }, "timing_ns": [ 272875, 274250, 272250, 273333, 280083, 271125, 277875, 278375, 272792, 270250, 274875, 290333, 284542, 291209, 298167, 311750, 310500, 333167, 385541, 376125, 325208, 324125, 372250, 446166, 464416, 309167, 271500, 269833, 268709, 266917, 268167, 268917, 267500, 268792, 267958, 266916, 266417, 265125, 264583, 265417, 263834, 266583, 264458, 265125, 264000, 263666, 266000, 266250, 267333, 280541, 286417, 311584, 348458, 373000, 371958, 372125, 426000, 406916, 395875, 452125, 452333, 451125, 453291, 451042, 504125, 454500, 502166, 515500, 455250, 499667, 510167, 499500, 655292, 284833, 272000, 276208, 271875, 269916, 271292, 267500, 267750, 267084, 267625, 269500, 266792, 266666, 267583, 267750, 269000, 271959, 267583, 267458, 268917, 270875, 269958, 273625, 268542, 267875, 266292, 266959 ] }, { "case_id": "fresh-06-fault-gap", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "detail": "Sample 50 does not end the next 2 ms interval.", "reason": "gapped_or_irregular_history", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "gapped_or_irregular_history" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 139542, 137125, 136833, 138084, 139125, 142625, 145708, 144125, 163542, 162459, 157666, 162833, 159875, 165208, 192333, 192583, 191458, 189709, 194083, 162708, 160875, 162584, 189167, 191500, 193375, 191041, 192041, 194083, 191208, 192000, 192125, 190917, 189875, 193000, 190708, 189458, 194041, 253916, 238916, 317250, 217958, 146542, 140625, 141291, 137875, 142541, 141917, 137334, 146209, 142625, 141834, 161542, 162625, 163791, 161334, 158208, 158667, 178333, 186667, 188459, 231208, 236917, 190084, 198958, 202250, 227417, 222333, 192750, 188166, 219041, 239583, 212542, 201166, 191042, 166375, 170292, 166958, 166458, 169708, 167333, 167167, 170500, 166750, 167292, 171666, 168083, 167584, 171042, 167833, 167291, 171833, 156000, 151709, 156750, 152542, 150792, 155084, 151416, 151167, 151375 ] }, { "case_id": "fresh-06-fault-duplicate", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "detail": "Timestamp did not advance at sample 50.", "reason": "nonmonotonic_timestamps", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "nonmonotonic_timestamps" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 153166, 189500, 188916, 190500, 189375, 187083, 191792, 190375, 205375, 232125, 229834, 229875, 231292, 230291, 237458, 245625, 239167, 246208, 159291, 185875, 282541, 154500, 164625, 148459, 147958, 151416, 147500, 147708, 146208, 146459, 147250, 146625, 149084, 146708, 145750, 144750, 145625, 145583, 145291, 146291, 145459, 145917, 146583, 144834, 142167, 138166, 137750, 137334, 137584, 137208, 137958, 139250, 136625, 136542, 137833, 137209, 136541, 137916, 137209, 138334, 137834, 138334, 136333, 138458, 137875, 137167, 144333, 142875, 136250, 140833, 144500, 137083, 143875, 140834, 142125, 141250, 141875, 145209, 142041, 143292, 139917, 137917, 137459, 137958, 137750, 139459, 139667, 146000, 146000, 144000, 159417, 160500, 161333, 161708, 160000, 160959, 186292, 188833, 199875, 230208 ] }, { "case_id": "fresh-06-fault-wrong_units", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "detail": "Require the exact declared SI unit map.", "reason": "invalid_units", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_units" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 5000, 5292, 5209, 5125, 4917, 5041, 4959, 5042, 4833, 5083, 5042, 4958, 5042, 4958, 4875, 4959, 4959, 5000, 4916, 5041, 4959, 4875, 4958, 4875, 4917, 5042, 4875, 5000, 5708, 5000, 5000, 4958, 4917, 4875, 4959, 5042, 4875, 4917, 5000, 5083, 4917, 5041, 4833, 4833, 4959, 5000, 4833, 4834, 4916, 4875, 4750, 4958, 4875, 4917, 4917, 5000, 4916, 4875, 4917, 5000, 4917, 4834, 4958, 4875, 4875, 4917, 4875, 4917, 4833, 4958, 4875, 5083, 4916, 4875, 4917, 4958, 4959, 4917, 4875, 4917, 4916, 4875, 4875, 4959, 4916, 4875, 4834, 4875, 4875, 5000, 4833, 5041, 5000, 4917, 4875, 4792, 4958, 4875, 4792, 5000 ] }, { "case_id": "fresh-06-fault-wrong_frame", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "detail": "Sample 99 does not use the trusted goal frame.", "reason": "invalid_reference_frame", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_reference_frame" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 313667, 294375, 284791, 283167, 282208, 272084, 274709, 276083, 272833, 275334, 268209, 268334, 266708, 264375, 265208, 264417, 266834, 263333, 270375, 271042, 274375, 274792, 269167, 272042, 272083, 273458, 268125, 263625, 265792, 270542, 272916, 282166, 284541, 286958, 293750, 366000, 369458, 368875, 368375, 367959, 392625, 382500, 376250, 333250, 333542, 317792, 296625, 301042, 297208, 299584, 294542, 294000, 296583, 431792, 349834, 308959, 276084, 265125, 290833, 276000, 272417, 270666, 267583, 265917, 268500, 273791, 282625, 305334, 333958, 371167, 446500, 458667, 471292, 402542, 387125, 384416, 389459, 387208, 389500, 388084, 386041, 384583, 387708, 439750, 475084, 469125, 425042, 411375, 471084, 452709, 389167, 384958, 389542, 388667, 404250, 472292, 466875, 546875, 430375, 330458 ] }, { "case_id": "fresh-06-fault-wrong_identity", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "detail": "Sample 99 does not identify the trusted target.", "reason": "unverified_target_identity", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "unverified_target_identity" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 277042, 286166, 276875, 286916, 286875, 273916, 276291, 278083, 282792, 279041, 289166, 295209, 315500, 357541, 364667, 361750, 386791, 388291, 354958, 328541, 321333, 322750, 322917, 323625, 329125, 324250, 295167, 315584, 331125, 297791, 304250, 293291, 301250, 303917, 294042, 295417, 296416, 320834, 362917, 357375, 315791, 480834, 295834, 525417, 313167, 326416, 275541, 266708, 279250, 290083, 266292, 268875, 263916, 269458, 268250, 269042, 264791, 277375, 280875, 302459, 320708, 371500, 439375, 486583, 415208, 364625, 337417, 337417, 315667, 309084, 305458, 305291, 306292, 306666, 305792, 305958, 305458, 307292, 294125, 295792, 294750, 319167, 342875, 384791, 325917, 358667, 386042, 385125, 389667, 409666, 360417, 468833, 334375, 287458, 281417, 279334, 279042, 280292, 292292, 293042 ] }, { "case_id": "fresh-06-fault-short_history", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "detail": "At least 100 contiguous 2 ms samples are required before physical scoring.", "reason": "insufficient_history", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "insufficient_history" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "newest_t_s": 0.6000000000000004, "source_sample_count": 20 } }, "timing_ns": [ 66542, 67250, 66792, 67083, 66166, 66792, 67125, 70958, 73167, 73459, 73417, 73166, 73333, 72375, 73000, 73375, 72958, 73458, 74250, 73417, 79209, 87292, 86250, 89458, 90084, 89292, 76125, 76125, 77541, 76458, 76708, 76625, 76250, 76875, 76459, 76167, 76500, 75750, 76000, 76417, 76375, 76791, 77208, 76625, 76292, 76667, 76333, 76250, 76250, 76333, 76458, 84916, 89833, 90209, 89625, 89125, 86834, 76750, 75625, 75375, 76125, 75375, 75417, 88166, 89125, 89041, 91083, 89875, 83750, 77167, 76417, 78333, 76375, 76583, 75792, 76459, 75958, 76625, 77417, 76375, 76167, 76917, 76292, 77125, 77042, 73583, 73375, 80250, 86167, 86375, 87417, 85958, 86042, 87333, 86750, 87583, 86667, 86125, 86792, 87666 ] }, { "case_id": "fresh-06-fault-missing_measurement", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 has invalid or out-of-range robot_contact_force_n.", "reason": "invalid_robot_contact_force_n", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_robot_contact_force_n" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 307750, 277041, 400208, 453875, 306584, 410709, 389917, 276500, 266708, 269458, 267042, 266667, 270791, 268417, 756208, 388083, 294917, 291250, 292708, 293625, 289708, 294291, 292209, 288792, 294333, 293000, 291292, 295250, 613792, 320667, 286375, 282667, 279708, 282041, 281917, 278458, 277542, 276541, 276000, 277958, 278459, 276916, 280500, 277958, 277625, 280250, 279334, 278042, 278000, 277541, 277041, 278750, 280208, 278917, 279792, 355333, 418250, 288208, 315583, 391875, 334250, 294958, 282500, 300792, 278208, 284250, 285334, 322542, 328250, 341375, 392916, 368750, 296541, 306917, 317958, 338458, 326583, 315750, 315625, 325500, 398250, 322209, 305625, 303208, 305458, 305625, 303333, 302833, 293542, 291083, 289333, 289709, 288541, 289042, 288958, 289917, 280042, 279125, 279666, 282500 ] }, { "case_id": "fresh-06-fault-unknown_presence", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "detail": "Target presence is unknown within the latest 200 ms.", "reason": "unknown_target_presence", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "unknown_target_presence" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 176875, 174500, 174958, 196042, 305250, 177209, 176542, 181333, 174917, 176167, 174125, 173500, 175042, 174584, 179708, 183083, 180833, 180708, 185042, 198292, 199167, 199958, 197042, 196833, 199625, 198792, 210416, 237416, 234833, 234916, 240250, 234917, 234125, 241375, 244708, 244417, 242500, 207042, 206084, 209125, 206833, 206125, 209959, 209750, 210334, 211917, 209667, 207542, 209750, 208750, 205416, 192084, 189167, 188167, 190792, 189125, 190541, 200042, 488458, 186959, 183625, 181333, 183083, 183792, 180875, 182167, 181000, 180750, 181709, 183167, 181458, 181250, 183542, 179541, 180167, 182917, 182166, 182000, 183792, 182167, 180333, 181709, 181875, 181458, 222334, 212708, 262625, 341834, 240792, 188167, 193250, 185458, 184500, 186083, 182250, 182584, 184458, 186000, 183416, 183083 ] }, { "case_id": "fresh-06-fault-threshold_uncertainty", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336062748e-06, "upper": 2.046823336062748e-06 }, "observed": 2.046823336062748e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.05779250913092e-06, "upper": 1.05779250913092e-06 }, "observed": 1.05779250913092e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 1.0, "interval": { "lower": 0.0, "upper": 1.2942989247886612 }, "observed": 0.2942989247886611, "operator": "gt", "reason": "uncertainty_overlaps_threshold", "statistic": "min", "status": "unknown", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805236948894e-07, "upper": 1.0856805236948894e-07 }, "observed": 1.0856805236948894e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556110611869e-09, "upper": 2.196556110611869e-09 }, "observed": 2.196556110611869e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "uncertainty_overlaps_threshold" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 303500, 305625, 301000, 301375, 305500, 300167, 313667, 328125, 349583, 449375, 526667, 343459, 348083, 354041, 379125, 343084, 342958, 347625, 379375, 355875, 342083, 340834, 345125, 366625, 379250, 377541, 381250, 386125, 465709, 373000, 387750, 442542, 492708, 372542, 327375, 318000, 312750, 315625, 322792, 316750, 322250, 330125, 365833, 368042, 392375, 433375, 439709, 436500, 436542, 535916, 446834, 448250, 445750, 447166, 336750, 331417, 327167, 333833, 328584, 328584, 325959, 326333, 298375, 295459, 307834, 308834, 306167, 300791, 301625, 351875, 309084, 305458, 310334, 309875, 398375, 332375, 479958, 389375, 337416, 302334, 299833, 300000, 299667, 302458, 303291, 299041, 298458, 300083, 297917, 299667, 300166, 299959, 319083, 368416, 378666, 341667, 327416, 326625, 329167, 330042 ] }, { "case_id": "fresh-06-fault-single_tick_contact_spike", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336062748e-06, "upper": 2.046823336062748e-06 }, "observed": 2.046823336062748e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.05779250913092e-06, "upper": 1.05779250913092e-06 }, "observed": 1.05779250913092e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.1, "upper": 0.1 }, "observed": 0.1, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886611, "upper": 0.2942989247886611 }, "observed": 0.2942989247886611, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805236948894e-07, "upper": 1.0856805236948894e-07 }, "observed": 1.0856805236948894e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556110611869e-09, "upper": 2.196556110611869e-09 }, "observed": 2.196556110611869e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 312250, 312250, 311458, 313042, 314500, 313542, 311625, 311834, 319333, 318667, 313708, 322083, 331417, 420834, 462917, 451792, 447292, 329208, 328458, 328334, 325333, 328083, 326792, 326583, 327750, 331041, 314250, 302458, 302333, 297916, 299625, 299042, 296834, 297791, 297208, 297834, 296708, 306625, 313000, 359208, 306625, 302167, 304000, 317584, 318875, 318250, 320792, 319042, 314625, 315750, 342875, 327792, 316625, 318500, 314542, 311625, 327083, 328042, 311333, 332792, 366458, 330625, 347209, 373291, 577458, 528500, 683875, 432167, 428792, 389084, 320625, 339292, 348708, 316583, 314541, 313209, 311500, 312208, 332167, 319417, 316250, 316166, 315458, 313833, 322042, 319125, 317125, 316584, 314333, 314708, 314625, 314583, 315375, 315917, 315542, 314625, 322666, 331000, 329083, 347917 ] }, { "case_id": "fresh-06-fault-missing_uncertainty", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "detail": "Packet has missing or unexpected fields.", "reason": "invalid_packet_fields", "status": "unknown" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "reason": "not_evaluated", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_packet_fields" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 3584, 3584, 3583, 3584, 3541, 3416, 3458, 3417, 3500, 3459, 3458, 3375, 3459, 3459, 3500, 3542, 3333, 3375, 3500, 3417, 3500, 3375, 3458, 3416, 3416, 3500, 3583, 3334, 3458, 3416, 3500, 3375, 3458, 3417, 3375, 3458, 3416, 3416, 3375, 3375, 3500, 3416, 3416, 3458, 3416, 3375, 3500, 3417, 3417, 3375, 3500, 3333, 3375, 3417, 3375, 3375, 3375, 3458, 3375, 3500, 3458, 3417, 3459, 3292, 3375, 3375, 3375, 3375, 3459, 3292, 3375, 3334, 3375, 3417, 3417, 3541, 3541, 3625, 3542, 3542, 3584, 3500, 3541, 3583, 3500, 3459, 3583, 3625, 3583, 3584, 3542, 3500, 3625, 3541, 3541, 3541, 3583, 3542, 3541, 3583 ] }, { "case_id": "fresh-06-fault-invalid_number", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 has invalid or out-of-range linear_speed_m_s.", "reason": "invalid_linear_speed_m_s", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_linear_speed_m_s" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 316541, 390666, 364750, 378041, 314583, 303042, 285125, 281750, 297625, 289875, 306667, 277292, 299917, 296750, 283458, 298084, 287750, 284125, 284750, 273833, 266250, 266875, 267333, 275083, 272958, 267334, 274416, 284458, 291292, 427541, 584542, 397792, 571958, 695375, 679875, 798666, 669083, 481291, 929750, 535250, 437916, 486625, 346875, 593792, 384667, 351209, 381333, 625541, 329000, 293583, 359500, 315834, 322042, 335083, 428708, 322375, 324916, 319959, 278250, 287584, 273833, 270000, 267250, 268708, 268166, 266166, 266209, 267875, 285750, 297125, 290417, 300709, 297750, 293792, 290041, 310625, 304917, 314833, 318750, 294708, 346459, 297167, 298250, 292250, 292834, 292500, 289792, 278958, 262542, 275959, 270667, 268042, 267917, 267542, 304834, 288584, 434417, 289750, 279375, 263416 ] }, { "case_id": "fresh-06-fault-inconsistent_presence", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 reports absent/unknown presence with numeric object measurements.", "reason": "contradictory_presence_measurements", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "contradictory_presence_measurements" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 263875, 270667, 268708, 270792, 267167, 266750, 266875, 265667, 265542, 265542, 264750, 274166, 303250, 301292, 321791, 303416, 297750, 295000, 293542, 294416, 292959, 294417, 293125, 294042, 293250, 293708, 296125, 294417, 294750, 272125, 266375, 268333, 267625, 267292, 267625, 267542, 277083, 283125, 310584, 335500, 372292, 390917, 496416, 512125, 527000, 294709, 312916, 298375, 292083, 289041, 290167, 290334, 292875, 291708, 290959, 290208, 289500, 289375, 290583, 288708, 287916, 278583, 279041, 278958, 280125, 279125, 278791, 281083, 279417, 279500, 300167, 558167, 287292, 281083, 279375, 279166, 278625, 271958, 262125, 260666, 272792, 272834, 266083, 264750, 264083, 264834, 264916, 281666, 265125, 264167, 267583, 775500, 337958, 266292, 264209, 324209, 419791, 275583, 265959, 303666 ] }, { "case_id": "fresh-06-fault-injected_label", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "detail": "Packet has missing or unexpected fields.", "reason": "invalid_packet_fields", "status": "unknown" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "reason": "not_evaluated", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_packet_fields" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 3250, 3500, 3292, 3208, 3250, 3167, 3125, 3167, 3125, 3125, 3083, 3209, 3166, 3084, 3125, 3125, 3084, 3125, 3000, 3083, 3083, 3000, 3042, 3083, 3083, 3166, 3167, 3125, 3083, 3167, 3125, 3083, 3125, 3125, 3167, 3208, 3167, 3125, 3083, 3125, 3083, 3167, 3125, 3125, 3083, 3042, 3166, 3084, 3083, 3000, 3167, 3042, 3042, 3166, 3084, 3208, 3166, 3125, 3084, 3125, 3042, 3125, 3084, 3125, 3000, 3167, 3042, 3042, 3084, 3042, 3084, 13667, 13833, 5500, 4125, 3625, 3500, 3375, 3417, 3291, 3250, 3166, 3167, 3209, 3208, 3125, 3166, 3125, 3209, 3167, 3208, 3125, 3084, 3125, 3166, 3208, 3084, 3166, 3125, 3166 ] }, { "case_id": "fresh-06-consistent-forgery", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.046823336062748e-06, "upper": 2.046823336062748e-06 }, "observed": 2.046823336062748e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.05779250913092e-06, "upper": 1.05779250913092e-06 }, "observed": 1.05779250913092e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886611, "upper": 0.2942989247886611 }, "observed": 0.2942989247886611, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805236948894e-07, "upper": 1.0856805236948894e-07 }, "observed": 1.0856805236948894e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556110611869e-09, "upper": 2.196556110611869e-09 }, "observed": 2.196556110611869e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 319667, 319375, 316584, 317750, 320416, 317125, 319750, 333208, 335875, 337292, 387708, 449291, 403792, 385417, 385000, 382750, 454000, 453916, 452541, 453000, 461334, 452584, 454291, 506500, 489250, 344584, 328792, 331417, 328292, 333000, 326250, 324959, 326750, 326791, 326958, 317458, 304625, 303833, 298792, 301958, 299500, 301917, 302667, 304292, 302041, 302459, 323583, 316834, 322750, 353167, 393459, 436959, 418458, 373917, 343125, 344166, 342042, 345834, 343125, 343584, 341625, 329875, 328500, 328333, 328041, 331167, 329875, 328875, 327875, 325042, 327417, 325583, 325625, 327375, 324709, 325709, 368500, 510250, 377167, 340833, 311500, 307833, 307583, 310708, 316167, 309666, 309459, 301708, 305875, 311833, 310292, 306458, 309667, 308375, 312291, 309834, 344958, 341417, 331417, 341958 ] }, { "case_id": "fresh-07-fault-stale", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "detail": "Newest observation is more than 100 ms old.", "reason": "stale_observation", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "stale_observation" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.5000000000000001, "declared_sample_period_s": 0.002, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 312000, 289500, 299125, 290583, 283958, 292250, 288708, 287083, 283125, 285000, 286583, 284458, 286042, 285167, 283459, 281625, 286209, 382708, 388792, 284334, 294667, 295041, 296584, 298000, 288125, 294875, 290250, 289375, 290250, 301500, 295875, 291833, 286542, 286458, 284417, 288667, 284709, 276083, 276375, 296375, 272125, 277625, 270208, 268208, 268458, 273833, 271250, 273833, 284666, 268792, 268875, 271250, 288208, 297583, 292250, 292709, 293959, 294459, 303584, 294625, 295625, 298541, 295292, 296333, 300750, 295500, 303125, 295750, 297500, 285000, 283458, 282083, 283208, 283000, 285625, 320250, 295417, 437958, 341125, 296459, 287625, 291209, 288542, 286417, 289250, 295417, 272917, 270542, 272500, 269959, 279333, 270041, 276291, 284333, 275959, 281334, 282916, 275875, 277125, 272208 ] }, { "case_id": "fresh-07-fault-future", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "detail": "Newest observation is after the trusted clock.", "reason": "future_observation", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "future_observation" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": -0.20000000000000007, "declared_sample_period_s": 0.002, "newest_t_s": 0.8000000000000005, "source_sample_count": 100 } }, "timing_ns": [ 287792, 290958, 288416, 288500, 286042, 285958, 284875, 284958, 286250, 284584, 275250, 273791, 271750, 275125, 276584, 272834, 274583, 273375, 276417, 276167, 269083, 274958, 308500, 414208, 287917, 282375, 277125, 284625, 282375, 282875, 280209, 279416, 279500, 280750, 280625, 280542, 287125, 282916, 282792, 280667, 280250, 283375, 281584, 282792, 288042, 292708, 293167, 293791, 291458, 293916, 294375, 291375, 292084, 293916, 292292, 291000, 292958, 291666, 293375, 292958, 293292, 291750, 281333, 292792, 280667, 280250, 283041, 280625, 307667, 289416, 287584, 291916, 285084, 288875, 284917, 285416, 284042, 286792, 283666, 304625, 276792, 267459, 342917, 318167, 396375, 270916, 284042, 272334, 272834, 279000, 278917, 268000, 275416, 276000, 274417, 271500, 292833, 295667, 296708, 295625 ] }, { "case_id": "fresh-07-fault-gap", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "detail": "Sample 50 does not end the next 2 ms interval.", "reason": "gapped_or_irregular_history", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "gapped_or_irregular_history" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 160291, 157250, 154875, 156458, 156333, 150500, 153250, 151458, 151458, 153333, 152458, 161500, 151458, 151250, 153667, 151958, 154584, 148125, 146500, 151042, 149875, 152083, 151666, 148083, 153000, 147292, 144209, 147250, 148750, 144125, 149042, 147875, 144708, 149250, 149834, 148041, 148791, 146750, 150542, 146709, 155375, 154875, 163875, 157750, 163083, 164583, 163583, 163958, 163792, 160250, 156583, 160625, 205000, 158208, 159334, 159083, 157125, 284000, 192292, 150459, 151375, 156083, 156292, 151834, 151792, 151708, 152375, 154417, 149000, 151791, 151125, 150250, 151584, 151166, 149834, 152417, 151500, 150667, 153083, 151709, 150500, 151709, 152042, 149417, 151750, 151625, 148917, 150958, 151542, 148916, 150875, 151000, 149291, 151625, 151583, 149750, 151959, 151250, 149375, 151500 ] }, { "case_id": "fresh-07-fault-duplicate", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "detail": "Timestamp did not advance at sample 50.", "reason": "nonmonotonic_timestamps", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "nonmonotonic_timestamps" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 153584, 151625, 150958, 151709, 154833, 151875, 151417, 151666, 150875, 149833, 151750, 151458, 150250, 151917, 151334, 149667, 152334, 151958, 151000, 152208, 151958, 150917, 153084, 151417, 150291, 151709, 150917, 149167, 151500, 149875, 149625, 151125, 150625, 149584, 152042, 151542, 150292, 151459, 150667, 149125, 151125, 150542, 149250, 151458, 150583, 149375, 151208, 149666, 149709, 151250, 150291, 149750, 150917, 151209, 275834, 266167, 189917, 197583, 204542, 160083, 147541, 148958, 146833, 145625, 146667, 146209, 144416, 147459, 145083, 145292, 149458, 145791, 144292, 146875, 144875, 145334, 146958, 145167, 144083, 147125, 146083, 145500, 147125, 145542, 144708, 146875, 145250, 144167, 148041, 145500, 144125, 146416, 145125, 145708, 152958, 149916, 149375, 153291, 149750, 149333 ] }, { "case_id": "fresh-07-fault-wrong_units", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "detail": "Require the exact declared SI unit map.", "reason": "invalid_units", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_units" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 4250, 4333, 4166, 4167, 4167, 4042, 4042, 4042, 4000, 4042, 4000, 3958, 4083, 4000, 4000, 3958, 4041, 4083, 3958, 4000, 4000, 4000, 4042, 3916, 4125, 4042, 4125, 4000, 3917, 3959, 3875, 3917, 3917, 4000, 4000, 4000, 3875, 4000, 4000, 4000, 3917, 3917, 3875, 3917, 4000, 4000, 3959, 3875, 3917, 3959, 3958, 3916, 3875, 3917, 3959, 3959, 3917, 4000, 3875, 3917, 3792, 3917, 3959, 3917, 3875, 4000, 3917, 3917, 3917, 3958, 3916, 3917, 3917, 3917, 3917, 3916, 3917, 3958, 3917, 3959, 4000, 4000, 3958, 3958, 3916, 3958, 3917, 3917, 3834, 3917, 4042, 3958, 3917, 4000, 4083, 3958, 4000, 4041, 3959, 3917 ] }, { "case_id": "fresh-07-fault-wrong_frame", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "detail": "Sample 99 does not use the trusted goal frame.", "reason": "invalid_reference_frame", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_reference_frame" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 294083, 290125, 289125, 295250, 291500, 292792, 294375, 291333, 291541, 292958, 287917, 290416, 293083, 290083, 293250, 341792, 406500, 293417, 289542, 282583, 281084, 285375, 284417, 277625, 282167, 282375, 278042, 282958, 279375, 277792, 282459, 278125, 277167, 281709, 268125, 267666, 270458, 268833, 265666, 271042, 267625, 266750, 270667, 266292, 267375, 270791, 266834, 265167, 269709, 265958, 286167, 279292, 278625, 281375, 285042, 280500, 278500, 284125, 282709, 281625, 286875, 286583, 285000, 286625, 280792, 280625, 283083, 281625, 280375, 282625, 283334, 282208, 286125, 285416, 285292, 284292, 316709, 871250, 322292, 281333, 278292, 276417, 275375, 276833, 279375, 270708, 254959, 262917, 263209, 262291, 263458, 258958, 258542, 260500, 262291, 264709, 263750, 264167, 261500, 262125 ] }, { "case_id": "fresh-07-fault-wrong_identity", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "detail": "Sample 99 does not identify the trusted target.", "reason": "unverified_target_identity", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "unverified_target_identity" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 281625, 276916, 276875, 281542, 276167, 277833, 279833, 276000, 276750, 279291, 277750, 274000, 281042, 274750, 279375, 288041, 280959, 280250, 289959, 289708, 287292, 290875, 389125, 289542, 295833, 289334, 291125, 292167, 276250, 260583, 276166, 272375, 269167, 264167, 263000, 268333, 278333, 270292, 282375, 273333, 274666, 277750, 271334, 273583, 270667, 269000, 271791, 285875, 286375, 280792, 287375, 293417, 284042, 289041, 293958, 285084, 278250, 304542, 287209, 281458, 295750, 281583, 274834, 281625, 256834, 269792, 275125, 275833, 263167, 269708, 274375, 271416, 266583, 272875, 259041, 267958, 262208, 267500, 265458, 262000, 258833, 261791, 266542, 300875, 410000, 285875, 282166, 282666, 278417, 280125, 281500, 280208, 279292, 289209, 293708, 284791, 280250, 278208, 277250, 280000 ] }, { "case_id": "fresh-07-fault-short_history", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "detail": "At least 100 contiguous 2 ms samples are required before physical scoring.", "reason": "insufficient_history", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "insufficient_history" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "newest_t_s": 0.6000000000000004, "source_sample_count": 20 } }, "timing_ns": [ 60292, 60083, 58875, 60125, 58875, 58833, 59584, 58667, 58834, 59250, 58708, 58708, 59708, 58916, 58541, 60042, 58542, 58125, 59666, 58958, 58625, 59833, 59291, 58125, 59292, 58541, 58292, 59333, 58750, 58291, 58958, 58833, 58208, 59291, 58208, 58584, 59167, 58708, 57959, 62417, 62375, 61084, 64125, 58625, 57834, 64042, 58916, 61125, 64916, 58750, 61125, 62417, 58875, 57958, 58875, 58334, 57833, 59625, 58625, 58042, 59000, 58000, 57750, 62125, 58708, 58416, 62167, 58625, 65375, 69333, 70792, 68041, 71042, 65583, 65000, 69958, 73625, 68666, 65875, 70291, 67833, 71417, 65375, 65375, 69833, 65958, 65083, 66583, 71250, 70292, 66875, 68625, 70167, 66709, 66208, 68833, 69917, 70666, 67917, 71541 ] }, { "case_id": "fresh-07-fault-missing_measurement", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 has invalid or out-of-range robot_contact_force_n.", "reason": "invalid_robot_contact_force_n", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_robot_contact_force_n" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 266167, 261291, 258291, 266625, 271084, 377958, 279959, 274208, 272833, 264334, 282125, 261500, 269625, 265709, 263250, 266042, 279167, 259958, 269917, 261500, 265583, 267916, 266416, 269708, 275500, 265000, 264709, 270583, 267625, 258000, 267750, 263791, 260833, 265792, 272250, 283125, 293292, 284292, 286667, 285083, 283334, 285833, 281292, 278083, 287666, 281542, 279416, 277542, 280291, 278541, 278792, 281791, 278167, 267709, 269416, 267791, 270541, 270917, 267417, 267250, 270250, 266958, 266292, 270000, 268250, 284500, 359834, 288375, 298083, 276042, 273000, 263916, 267334, 263708, 271584, 267917, 262167, 261167, 263916, 260000, 261417, 262708, 261875, 268292, 273125, 264667, 260250, 276625, 267292, 273750, 269709, 266042, 268333, 272625, 267875, 270000, 273125, 265875, 265208, 269875 ] }, { "case_id": "fresh-07-fault-unknown_presence", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "detail": "Target presence is unknown within the latest 200 ms.", "reason": "unknown_target_presence", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "unknown_target_presence" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 166416, 167667, 163250, 164208, 161250, 162167, 161958, 161875, 161333, 161042, 162792, 159958, 161458, 162334, 161291, 161500, 169834, 167042, 167875, 166292, 166083, 166084, 166000, 166041, 168584, 172458, 168334, 171541, 198875, 172166, 167583, 167958, 171625, 251292, 175750, 175459, 168666, 172708, 176458, 164792, 164708, 173583, 164958, 165125, 167042, 166042, 165000, 164083, 163625, 164500, 165250, 183875, 165000, 165084, 163667, 162834, 161750, 163041, 163709, 161416, 162500, 163209, 161916, 161166, 163041, 161583, 162459, 160125, 165708, 162167, 160250, 163167, 167292, 159375, 171792, 172917, 162000, 163167, 169792, 174125, 167792, 166416, 173375, 168083, 173458, 163083, 166459, 169125, 170958, 169750, 175167, 180709, 182042, 180291, 183958, 180834, 177042, 182000, 184250, 183167 ] }, { "case_id": "fresh-07-fault-threshold_uncertainty", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233360936945e-06, "upper": 2.0468233360936945e-06 }, "observed": 2.0468233360936945e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090941548e-06, "upper": 1.0577925090941548e-06 }, "observed": 1.0577925090941548e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 1.0, "interval": { "lower": 0.0, "upper": 1.2942989247886612 }, "observed": 0.29429892478866126, "operator": "gt", "reason": "uncertainty_overlaps_threshold", "statistic": "min", "status": "unknown", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805235504176e-07, "upper": 1.0856805235504176e-07 }, "observed": 1.0856805235504176e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965561730619143e-09, "upper": 2.1965561730619143e-09 }, "observed": 2.1965561730619143e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "uncertainty_overlaps_threshold" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 298708, 306708, 301083, 296833, 312500, 297250, 328000, 383167, 310000, 300500, 294167, 294250, 290791, 295333, 302083, 293833, 301250, 301584, 297542, 298333, 297708, 297792, 298625, 301459, 300458, 297792, 297125, 303833, 299958, 292167, 298542, 305042, 330708, 324125, 331125, 327167, 327708, 321834, 331833, 324166, 314166, 323875, 326333, 319625, 314709, 324084, 331583, 331875, 318584, 322833, 319875, 322959, 326709, 319334, 323625, 331375, 323667, 318750, 318875, 393875, 317084, 326709, 333583, 327583, 322125, 315792, 320208, 321125, 322167, 321833, 326000, 328250, 318667, 327667, 317667, 317500, 328542, 329917, 316833, 321500, 320417, 323292, 337500, 344625, 345750, 338333, 336875, 365000, 385584, 385666, 325458, 317500, 312917, 294292, 307000, 309541, 308958, 307375, 300416, 305958 ] }, { "case_id": "fresh-07-fault-single_tick_contact_spike", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233360936945e-06, "upper": 2.0468233360936945e-06 }, "observed": 2.0468233360936945e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090941548e-06, "upper": 1.0577925090941548e-06 }, "observed": 1.0577925090941548e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.1, "upper": 0.1 }, "observed": 0.1, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429892478866126, "upper": 0.29429892478866126 }, "observed": 0.29429892478866126, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805235504176e-07, "upper": 1.0856805235504176e-07 }, "observed": 1.0856805235504176e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965561730619143e-09, "upper": 2.1965561730619143e-09 }, "observed": 2.1965561730619143e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 324959, 374125, 324000, 300583, 301875, 315250, 311084, 303458, 299250, 291458, 297709, 295875, 294917, 298167, 306125, 287916, 287917, 298792, 295375, 299625, 297375, 291666, 287833, 289209, 292459, 293000, 287875, 290666, 291500, 291042, 291167, 292666, 291708, 292667, 292541, 291166, 300250, 300625, 305292, 296458, 293958, 301041, 302875, 322208, 309667, 306375, 304375, 305833, 297375, 297084, 297958, 298709, 305000, 311125, 384250, 312708, 293042, 299084, 306667, 295083, 294250, 292792, 294375, 297250, 296084, 297000, 291833, 291875, 290333, 288791, 289375, 287833, 290250, 298542, 291875, 291833, 321042, 303958, 317292, 300291, 306333, 305834, 307375, 299833, 301000, 296583, 295625, 290084, 296209, 293917, 298709, 299958, 292375, 293375, 294292, 293000, 295583, 294667, 297125, 296792 ] }, { "case_id": "fresh-07-fault-missing_uncertainty", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "detail": "Packet has missing or unexpected fields.", "reason": "invalid_packet_fields", "status": "unknown" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "reason": "not_evaluated", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_packet_fields" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 3125, 3209, 3042, 3083, 3042, 3042, 3000, 3042, 3042, 3083, 2958, 3000, 3000, 3042, 2875, 3000, 2917, 3000, 3041, 3042, 3041, 3000, 2958, 3000, 3000, 3042, 3000, 2959, 3000, 2959, 2916, 2916, 2958, 2917, 2917, 2917, 3041, 3000, 2917, 2958, 2917, 2917, 2958, 2916, 3000, 2958, 2917, 6208, 3000, 3042, 2917, 2917, 2875, 2958, 2958, 3042, 2917, 3042, 2875, 2958, 3041, 3042, 2917, 2917, 2917, 2917, 2958, 2917, 2875, 3041, 2958, 2917, 2917, 2875, 2875, 2958, 2916, 2958, 2958, 3000, 2916, 3000, 2917, 2958, 3000, 2917, 2917, 3042, 2959, 2833, 2959, 3000, 2958, 3000, 2917, 2958, 2958, 2917, 2917, 2958 ] }, { "case_id": "fresh-07-fault-invalid_number", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 has invalid or out-of-range linear_speed_m_s.", "reason": "invalid_linear_speed_m_s", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_linear_speed_m_s" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 264583, 262541, 266500, 263333, 272750, 262042, 261375, 260667, 270041, 262375, 262542, 263041, 262250, 261708, 261458, 259958, 262125, 267209, 263125, 258416, 261250, 264875, 266500, 263583, 266834, 273250, 266292, 266417, 270209, 264917, 262791, 261167, 261166, 262041, 261875, 260209, 261917, 260417, 260959, 261167, 266208, 265416, 263875, 262917, 267375, 264916, 264292, 263042, 265417, 263875, 263833, 267333, 271583, 269125, 264125, 262333, 265167, 283875, 401709, 282584, 280291, 279417, 285208, 279750, 285542, 278709, 278375, 276292, 278083, 276709, 275125, 276542, 277791, 277917, 278000, 273959, 259750, 256250, 256166, 255541, 256875, 257250, 256500, 255583, 256167, 255375, 255166, 255917, 257542, 256500, 255542, 256042, 256542, 256333, 255750, 279417, 263792, 261292, 260375, 259417 ] }, { "case_id": "fresh-07-fault-inconsistent_presence", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 reports absent/unknown presence with numeric object measurements.", "reason": "contradictory_presence_measurements", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "contradictory_presence_measurements" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 257291, 260417, 261791, 260500, 265000, 259750, 261500, 257583, 266333, 278041, 348709, 268500, 268000, 256958, 258500, 257417, 262000, 260917, 263834, 256709, 259042, 258250, 286500, 263459, 262959, 259416, 264834, 257042, 259084, 259084, 262000, 258375, 259542, 264875, 260334, 257875, 260542, 259083, 261792, 257750, 260791, 257541, 261750, 258958, 260833, 259250, 263167, 258292, 261125, 258542, 261625, 258334, 261791, 259708, 260292, 257167, 259250, 259250, 261416, 257375, 264959, 263375, 263917, 261625, 265583, 262500, 265791, 262750, 265250, 262458, 264875, 261667, 308375, 293542, 271250, 269209, 265709, 264959, 268584, 281916, 298291, 286209, 282041, 279416, 308917, 318875, 285417, 281625, 282625, 279083, 280875, 279000, 280333, 277166, 279083, 276209, 267542, 256333, 258958, 256458 ] }, { "case_id": "fresh-07-fault-injected_label", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "detail": "Packet has missing or unexpected fields.", "reason": "invalid_packet_fields", "status": "unknown" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "reason": "not_evaluated", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_packet_fields" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 3000, 6041, 3333, 3083, 3042, 3125, 3166, 3042, 3000, 3000, 3042, 3000, 3000, 3000, 3000, 3000, 2958, 3041, 3041, 3000, 3042, 2959, 3042, 3000, 2917, 3125, 3125, 3000, 2917, 2959, 3041, 2958, 2958, 2959, 2958, 3000, 2917, 2958, 3042, 3000, 2917, 3042, 3000, 2917, 2958, 3000, 3042, 3083, 2958, 2959, 3000, 3000, 3000, 2958, 3000, 2958, 3000, 3041, 3083, 3000, 3000, 2958, 3000, 3042, 2917, 3000, 3000, 2959, 3000, 2917, 2958, 3000, 2958, 3041, 3041, 2958, 2958, 3000, 3000, 2917, 2958, 3042, 3083, 2959, 3000, 2917, 3042, 3042, 2917, 2958, 3041, 2917, 3000, 2917, 3000, 3000, 2916, 2958, 3084, 3000 ] }, { "case_id": "fresh-07-consistent-forgery", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233360936945e-06, "upper": 2.0468233360936945e-06 }, "observed": 2.0468233360936945e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090941548e-06, "upper": 1.0577925090941548e-06 }, "observed": 1.0577925090941548e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429892478866126, "upper": 0.29429892478866126 }, "observed": 0.29429892478866126, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805235504176e-07, "upper": 1.0856805235504176e-07 }, "observed": 1.0856805235504176e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965561730619143e-09, "upper": 2.1965561730619143e-09 }, "observed": 2.1965561730619143e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 297334, 294833, 293459, 293958, 293500, 292375, 292709, 294500, 292042, 296625, 294250, 293292, 292958, 294459, 292542, 293333, 306917, 379625, 323333, 304125, 314000, 962875, 315750, 310542, 447958, 450334, 706875, 499000, 360166, 299833, 299417, 311333, 318959, 321959, 323708, 321167, 306958, 308250, 425417, 348708, 302750, 300792, 305791, 294708, 293542, 290667, 299125, 311541, 295292, 300209, 298625, 302667, 299417, 302500, 302333, 297750, 299666, 301125, 298625, 310958, 316542, 317000, 346000, 349583, 403750, 311750, 354291, 409959, 321458, 305125, 302625, 302625, 302125, 304833, 303625, 300541, 303916, 300875, 304000, 299167, 302500, 300750, 298500, 295875, 298375, 305625, 298500, 300625, 299417, 302083, 302333, 314417, 311667, 306625, 296958, 307166, 307375, 302083, 317500, 320209 ] }, { "case_id": "fresh-08-fault-stale", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "detail": "Newest observation is more than 100 ms old.", "reason": "stale_observation", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "stale_observation" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.5000000000000001, "declared_sample_period_s": 0.002, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 324917, 324583, 325083, 345584, 387708, 385125, 336250, 357375, 386333, 341250, 294334, 282792, 267292, 267875, 269500, 275417, 267583, 264250, 265958, 265958, 269250, 269792, 273875, 275583, 263500, 268750, 271709, 268083, 279416, 267791, 270041, 274500, 274708, 283125, 272209, 277375, 267625, 271333, 284375, 279625, 275292, 283417, 304875, 330375, 290416, 291667, 277667, 277333, 285584, 268667, 277625, 280500, 268750, 271333, 270417, 277792, 269459, 285667, 274875, 262958, 277208, 274542, 295958, 344125, 278709, 289792, 277708, 279833, 284000, 285083, 277166, 278458, 272667, 266750, 272833, 269125, 273792, 273333, 263375, 292833, 260917, 262875, 257833, 257792, 258291, 262750, 265125, 273208, 263458, 277250, 265875, 271125, 269416, 266791, 267541, 253041, 258333, 261125, 259000, 263625 ] }, { "case_id": "fresh-08-fault-future", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "detail": "Newest observation is after the trusted clock.", "reason": "future_observation", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "future_observation" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": -0.20000000000000007, "declared_sample_period_s": 0.002, "newest_t_s": 0.8000000000000005, "source_sample_count": 100 } }, "timing_ns": [ 260000, 263459, 263875, 263417, 265417, 293292, 270166, 276833, 263875, 273750, 273209, 273583, 279084, 290958, 348125, 288459, 272958, 273792, 269167, 271041, 275708, 278500, 268667, 277917, 275167, 277208, 272625, 269709, 272667, 271167, 280209, 266875, 275417, 279500, 269958, 271375, 271958, 272291, 271500, 265834, 262416, 270041, 262291, 272334, 272208, 271166, 273667, 278125, 271000, 269500, 271125, 273417, 279833, 268708, 276625, 263916, 262334, 267125, 263667, 268958, 278708, 272042, 283042, 267417, 276583, 273083, 274166, 272666, 264500, 270500, 266375, 278000, 271583, 291125, 327167, 276875, 295458, 278833, 283542, 276583, 283458, 274792, 271917, 278500, 271042, 264625, 268541, 269417, 268417, 270416, 271167, 267125, 263959, 265500, 265083, 270125, 273125, 274416, 270500, 275000 ] }, { "case_id": "fresh-08-fault-gap", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "detail": "Sample 50 does not end the next 2 ms interval.", "reason": "gapped_or_irregular_history", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "gapped_or_irregular_history" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 141542, 134625, 140375, 136833, 135208, 138042, 139458, 140042, 159625, 145000, 135167, 134084, 140375, 137209, 138209, 139584, 140584, 134417, 137750, 138583, 133125, 140458, 136917, 138250, 138500, 138334, 137291, 140292, 138625, 136333, 139792, 135125, 136917, 138292, 138625, 136125, 137833, 133541, 137959, 136916, 137750, 137750, 137708, 138208, 135125, 139500, 136000, 137250, 137125, 137916, 132791, 135500, 138084, 137792, 149875, 137709, 154167, 200542, 140292, 147250, 152333, 138291, 132417, 138166, 140625, 138791, 139041, 143500, 144333, 140333, 134166, 140333, 135958, 134000, 138584, 135834, 138625, 133375, 137834, 163292, 137458, 138834, 138500, 140250, 141833, 137458, 138875, 135958, 140000, 133375, 135834, 142000, 170333, 169250, 147375, 136042, 142875, 136459, 135709, 137917 ] }, { "case_id": "fresh-08-fault-duplicate", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "detail": "Timestamp did not advance at sample 50.", "reason": "nonmonotonic_timestamps", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "nonmonotonic_timestamps" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 132125, 138500, 133041, 137917, 132417, 137541, 135667, 137292, 132208, 138500, 136333, 132500, 131917, 132375, 132833, 137750, 132208, 132375, 135000, 141250, 137584, 134708, 132083, 135166, 136584, 141250, 132791, 137084, 134167, 138167, 135208, 136125, 135292, 134709, 138583, 133375, 133583, 133375, 132375, 133709, 135292, 133375, 136541, 132083, 140708, 133375, 133000, 137584, 132834, 134333, 133375, 140500, 133458, 132500, 133791, 132542, 138334, 137875, 146083, 141125, 139792, 142833, 154792, 235833, 166084, 161458, 152291, 158167, 146791, 142541, 155667, 162000, 156583, 179875, 189167, 202000, 231833, 224125, 223084, 233000, 191084, 185292, 202583, 224875, 228208, 227333, 222292, 187667, 187000, 188667, 186709, 187541, 227917, 226042, 227958, 227375, 234708, 232791, 226000, 233875 ] }, { "case_id": "fresh-08-fault-wrong_units", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "detail": "Require the exact declared SI unit map.", "reason": "invalid_units", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_units" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 6042, 6250, 6250, 5959, 5792, 5958, 6166, 6000, 10917, 5958, 6000, 6000, 6875, 6000, 5958, 5917, 5792, 5542, 4708, 4792, 4875, 4917, 4917, 4792, 4792, 4875, 4833, 4750, 4792, 5000, 4792, 4916, 4833, 4875, 5000, 4750, 4917, 4875, 4917, 5041, 4750, 4916, 4833, 5041, 10458, 4750, 4833, 4792, 4917, 4708, 4792, 4916, 4958, 4792, 4833, 4750, 4833, 4875, 4709, 4833, 4709, 5000, 4750, 4750, 4875, 4833, 4833, 4792, 9917, 4833, 4750, 4750, 4959, 4875, 4916, 4833, 4875, 4875, 4958, 5041, 4875, 4917, 4750, 4916, 4750, 4709, 4833, 4875, 4792, 4833, 4875, 4875, 4750, 4875, 4792, 4708, 4667, 4792, 4875, 4792 ] }, { "case_id": "fresh-08-fault-wrong_frame", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "detail": "Sample 99 does not use the trusted goal frame.", "reason": "invalid_reference_frame", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_reference_frame" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 262125, 259500, 259000, 263458, 267583, 260375, 260708, 269542, 268250, 268250, 265791, 267084, 262417, 271334, 267375, 260583, 262833, 276666, 361333, 280500, 277667, 264083, 264917, 268083, 273916, 271542, 277750, 265542, 258417, 259458, 258834, 268625, 259667, 259292, 258750, 257875, 257250, 265042, 258791, 260125, 268750, 264541, 263875, 264042, 257916, 258000, 257709, 259333, 263291, 258000, 257791, 262208, 259208, 258708, 257500, 266958, 263875, 258833, 257750, 258625, 259084, 257542, 258250, 257167, 258541, 257417, 258083, 257542, 259875, 258958, 259459, 258917, 257459, 258625, 265042, 257375, 257583, 256875, 258958, 259292, 276250, 368625, 267208, 258542, 261875, 259209, 265209, 263834, 258209, 256917, 258750, 258000, 260750, 273042, 276458, 272750, 290459, 300875, 304250, 300583 ] }, { "case_id": "fresh-08-fault-wrong_identity", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "detail": "Sample 99 does not identify the trusted target.", "reason": "unverified_target_identity", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "unverified_target_identity" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 303250, 327416, 362750, 308542, 328084, 308833, 261125, 268667, 265916, 256375, 266583, 263875, 263167, 270333, 259875, 266125, 269834, 266292, 259709, 258916, 262292, 264500, 262625, 263917, 260584, 265291, 260792, 263708, 272791, 366250, 271083, 292500, 264791, 254708, 262500, 263667, 260667, 275750, 257792, 262500, 261667, 272000, 260375, 263125, 259750, 261208, 266166, 261667, 260042, 257541, 259875, 260542, 260084, 256834, 254709, 261000, 260625, 260583, 267375, 260625, 263167, 276083, 261833, 259041, 261417, 261875, 255416, 263083, 257833, 268833, 272041, 272917, 275667, 281875, 295875, 297667, 307166, 309083, 326542, 276167, 270959, 269458, 275292, 262000, 260916, 264708, 267375, 269833, 270167, 267208, 280000, 265083, 261083, 362459, 277000, 270292, 263750, 266250, 273875, 254417 ] }, { "case_id": "fresh-08-fault-short_history", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "detail": "At least 100 contiguous 2 ms samples are required before physical scoring.", "reason": "insufficient_history", "status": "unknown" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "insufficient_history" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "newest_t_s": 0.6000000000000004, "source_sample_count": 20 } }, "timing_ns": [ 62709, 57958, 58416, 58292, 57959, 60666, 58291, 62542, 58167, 61416, 61208, 60750, 61125, 57916, 57666, 63291, 57541, 57750, 61625, 58209, 62834, 58584, 60750, 61208, 58708, 57875, 60042, 63750, 57917, 63250, 61667, 62292, 58292, 58500, 58125, 57792, 58208, 62708, 57875, 61292, 62500, 57750, 58000, 57625, 57750, 58333, 57833, 58334, 57625, 57834, 58417, 58542, 57583, 57833, 58125, 57541, 57833, 85542, 61709, 63209, 60708, 61791, 59166, 76958, 62417, 59042, 62292, 63833, 58625, 62542, 63750, 61834, 62459, 61791, 61833, 62375, 63833, 59167, 62834, 63792, 58625, 59208, 68750, 61917, 59542, 59125, 58833, 62750, 63917, 58792, 59584, 64208, 59041, 62333, 64500, 66750, 59333, 59250, 59375, 64417 ] }, { "case_id": "fresh-08-fault-missing_measurement", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 has invalid or out-of-range robot_contact_force_n.", "reason": "invalid_robot_contact_force_n", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_robot_contact_force_n" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 263750, 261125, 258916, 271167, 260416, 262500, 269416, 260500, 260000, 262292, 264042, 261666, 260625, 258791, 258583, 273958, 263667, 265250, 297292, 339416, 271541, 267125, 263875, 263583, 260792, 263792, 266208, 260834, 258583, 259625, 265750, 262375, 260708, 271875, 259375, 275875, 258834, 258916, 258791, 260833, 258125, 262375, 260709, 258791, 257250, 261291, 257958, 285792, 272250, 267291, 261125, 260333, 259000, 259958, 259916, 259708, 280375, 267083, 257541, 258667, 260417, 258084, 257708, 260917, 257459, 257208, 261166, 260000, 257458, 262500, 258042, 258542, 261667, 257666, 257833, 261416, 258958, 258333, 277000, 365292, 279250, 274416, 264584, 265833, 263416, 260625, 258459, 262708, 264625, 264000, 265125, 263583, 261875, 264459, 289542, 267625, 268041, 259417, 258875, 262167 ] }, { "case_id": "fresh-08-fault-unknown_presence", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "detail": "Target presence is unknown within the latest 200 ms.", "reason": "unknown_target_presence", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "unknown_target_presence" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 171083, 170709, 161167, 173958, 172750, 164416, 166125, 164000, 168083, 166667, 170334, 170042, 163083, 164417, 165959, 172375, 173917, 172167, 170167, 167708, 164750, 162334, 161292, 159667, 166500, 163750, 161375, 164958, 166416, 165417, 164917, 163959, 161042, 160833, 169750, 173417, 168541, 168333, 199334, 167958, 171167, 169125, 172542, 166500, 167250, 168583, 161917, 169084, 166292, 166625, 168791, 171541, 177125, 167959, 260833, 176833, 176458, 185208, 168959, 162709, 176375, 167583, 169292, 167542, 169583, 169875, 176042, 166458, 168334, 169833, 168334, 162875, 178125, 165375, 168417, 169041, 169333, 175917, 175875, 163750, 162667, 162250, 163083, 164167, 168375, 166041, 166041, 166125, 162750, 167042, 168125, 168417, 165875, 164833, 170625, 162291, 165417, 187667, 170541, 170250 ] }, { "case_id": "fresh-08-fault-threshold_uncertainty", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233360185517e-06, "upper": 2.0468233360185517e-06 }, "observed": 2.0468233360185517e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090839514e-06, "upper": 1.0577925090839514e-06 }, "observed": 1.0577925090839514e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 1.0, "interval": { "lower": 0.0, "upper": 1.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "uncertainty_overlaps_threshold", "statistic": "min", "status": "unknown", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805234927955e-07, "upper": 1.0856805234927955e-07 }, "observed": 1.0856805234927955e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556256328641e-09, "upper": 2.196556256328641e-09 }, "observed": 2.196556256328641e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "uncertainty_overlaps_threshold" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 301417, 294083, 292416, 290625, 293333, 292750, 293083, 291000, 291000, 293542, 292292, 291750, 295125, 294917, 297500, 291042, 293042, 295292, 417458, 313125, 297750, 300375, 299500, 298125, 294333, 291709, 291791, 295625, 298583, 295458, 292416, 291000, 294083, 300041, 296333, 296959, 295208, 291500, 293417, 293500, 297334, 302875, 296208, 299458, 300292, 294959, 296542, 296291, 296958, 294708, 302708, 295667, 290750, 293875, 319833, 296125, 294958, 302916, 298167, 294666, 296125, 298458, 299709, 295416, 304500, 300125, 296458, 290416, 292375, 301792, 294375, 299041, 297625, 306000, 374459, 306583, 320458, 298959, 294667, 297250, 293875, 303708, 291208, 300292, 299459, 304125, 299208, 300417, 293459, 294375, 295458, 298417, 294750, 299250, 294000, 301375, 297167, 301875, 311042, 313084 ] }, { "case_id": "fresh-08-fault-single_tick_contact_spike", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233360185517e-06, "upper": 2.0468233360185517e-06 }, "observed": 2.0468233360185517e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090839514e-06, "upper": 1.0577925090839514e-06 }, "observed": 1.0577925090839514e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.1, "upper": 0.1 }, "observed": 0.1, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805234927955e-07, "upper": 1.0856805234927955e-07 }, "observed": 1.0856805234927955e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556256328641e-09, "upper": 2.196556256328641e-09 }, "observed": 2.196556256328641e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 310709, 312834, 305250, 309833, 303791, 298375, 300958, 296125, 297208, 299750, 304167, 296125, 300916, 315292, 297875, 299875, 306333, 379750, 314292, 307041, 303167, 310625, 302250, 298875, 295917, 300708, 295917, 297084, 300791, 295292, 298208, 299000, 300166, 297542, 298833, 299375, 297500, 302708, 295833, 301166, 291833, 302208, 297667, 302208, 296875, 297625, 298000, 303125, 307750, 305792, 304417, 312750, 303125, 307709, 313958, 305250, 311709, 312542, 304542, 296625, 306292, 302792, 299125, 301834, 317167, 309792, 300625, 302292, 302250, 309917, 305667, 318042, 417041, 309709, 310833, 308625, 304083, 323292, 306166, 302250, 308791, 299291, 304125, 303333, 312875, 303709, 307208, 298959, 310333, 304709, 305667, 300500, 311084, 308417, 300959, 301667, 295541, 312791, 310709, 310417 ] }, { "case_id": "fresh-08-fault-missing_uncertainty", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "detail": "Packet has missing or unexpected fields.", "reason": "invalid_packet_fields", "status": "unknown" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "reason": "not_evaluated", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_packet_fields" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 3208, 3125, 3208, 3083, 3000, 3125, 3000, 3000, 3084, 3083, 3042, 3083, 2917, 3042, 3042, 2959, 3000, 3041, 3000, 3041, 3000, 3041, 3083, 3000, 3084, 3083, 3042, 3000, 3042, 3000, 3000, 3000, 2917, 3000, 3000, 3041, 3000, 3000, 3000, 2958, 3000, 2959, 3000, 2959, 2958, 2959, 3000, 2959, 2958, 3000, 2958, 2917, 2958, 3000, 3041, 2959, 3000, 2958, 3000, 3041, 3041, 3000, 3000, 2916, 2958, 3000, 2958, 2916, 2958, 2959, 3000, 2958, 2917, 2917, 2958, 3000, 3000, 3000, 2958, 2958, 3000, 2958, 3042, 2917, 2958, 3041, 3000, 2917, 2916, 2958, 2959, 3042, 3000, 2959, 3000, 2958, 2875, 3000, 3000, 2916 ] }, { "case_id": "fresh-08-fault-invalid_number", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 has invalid or out-of-range linear_speed_m_s.", "reason": "invalid_linear_speed_m_s", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_linear_speed_m_s" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 270791, 267833, 271333, 267125, 266250, 259250, 270042, 268958, 269542, 275292, 276167, 265542, 274833, 291625, 356500, 275625, 274042, 280083, 301833, 270708, 274291, 270875, 263750, 256958, 263209, 266291, 264500, 269416, 262625, 259375, 266542, 262750, 264708, 264084, 262083, 259958, 262667, 266084, 261625, 265041, 268959, 263292, 263875, 262500, 259875, 263000, 262166, 262708, 262458, 264875, 259250, 262667, 263042, 263292, 265500, 264750, 263583, 262958, 262500, 262959, 258459, 262459, 262875, 267833, 275750, 273333, 279875, 305625, 332208, 355750, 306000, 332333, 363250, 367291, 442167, 351125, 292875, 268833, 263333, 263250, 262709, 265792, 276791, 267041, 263875, 266416, 263500, 262459, 266291, 264792, 267875, 266792, 259458, 263250, 262250, 260875, 265916, 263208, 261875, 264083 ] }, { "case_id": "fresh-08-fault-inconsistent_presence", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "detail": "Sample 99 reports absent/unknown presence with numeric object measurements.", "reason": "contradictory_presence_measurements", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "contradictory_presence_measurements" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 261333, 259792, 265917, 265709, 264708, 259542, 264875, 259666, 262417, 263709, 265042, 259542, 268708, 266541, 274500, 259083, 263834, 259834, 261583, 263500, 262209, 263416, 264125, 261333, 285625, 267583, 270958, 381958, 276791, 261625, 266542, 276916, 268750, 257709, 266542, 262584, 267375, 261500, 266584, 261459, 263834, 261000, 265667, 263709, 262750, 264208, 265375, 260375, 261542, 259208, 265584, 257375, 262167, 256875, 261125, 258333, 263041, 257375, 267125, 258667, 263875, 285667, 272375, 264750, 265708, 280792, 267375, 266916, 264833, 267875, 267334, 261542, 267791, 260833, 267375, 266458, 268167, 263583, 266875, 260417, 268542, 258875, 264500, 260458, 264041, 264250, 272375, 267584, 269459, 436000, 284125, 266833, 271416, 271958, 274625, 283291, 271542, 268625, 272417, 263459 ] }, { "case_id": "fresh-08-fault-injected_label", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_evaluated", "status": "unknown" }, "cadence": { "reason": "not_evaluated", "status": "unknown" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "not_evaluated", "status": "unknown" }, "freshness": { "reason": "not_evaluated", "status": "unknown" }, "history_span": { "reason": "not_evaluated", "status": "unknown" }, "identity": { "reason": "not_evaluated", "status": "unknown" }, "linear_speed": { "reason": "not_evaluated", "status": "unknown" }, "measurement_validity": { "reason": "not_evaluated", "status": "unknown" }, "presence": { "reason": "not_evaluated", "status": "unknown" }, "release": { "reason": "not_evaluated", "status": "unknown" }, "schema": { "detail": "Packet has missing or unexpected fields.", "reason": "invalid_packet_fields", "status": "unknown" }, "support": { "reason": "not_evaluated", "status": "unknown" }, "timestamps": { "reason": "not_evaluated", "status": "unknown" }, "uncertainty_validity": { "reason": "not_evaluated", "status": "unknown" }, "units": { "reason": "not_evaluated", "status": "unknown" }, "xy_position": { "reason": "not_evaluated", "status": "unknown" }, "yaw": { "reason": "not_evaluated", "status": "unknown" } }, "reasons": [ "invalid_packet_fields" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "unknown", "window": {} }, "timing_ns": [ 3125, 3417, 3209, 3167, 3041, 3208, 3083, 3041, 3083, 3083, 3041, 3000, 3041, 3041, 3041, 3083, 3084, 3041, 3000, 3000, 3042, 3000, 2958, 3041, 3083, 3125, 3042, 3125, 3000, 2958, 3084, 3083, 3000, 3000, 2958, 3000, 3000, 3000, 3042, 3000, 3000, 3000, 2959, 3041, 3041, 3000, 3084, 3000, 3084, 2917, 2958, 3083, 2959, 3625, 3000, 3000, 2958, 2959, 3042, 3042, 2958, 3041, 3000, 3000, 3000, 3000, 2959, 3000, 3000, 3000, 3041, 3041, 3041, 3000, 3000, 3125, 3083, 3000, 3000, 3000, 3000, 3000, 3042, 2959, 3000, 3000, 3000, 3084, 3042, 3042, 3000, 3000, 3000, 3000, 3041, 3041, 2958, 2958, 3083, 2958 ] }, { "case_id": "fresh-08-consistent-forgery", "decision": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.0468233360185517e-06, "upper": 2.0468233360185517e-06 }, "observed": 2.0468233360185517e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0577925090839514e-06, "upper": 1.0577925090839514e-06 }, "observed": 1.0577925090839514e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942989247886607, "upper": 0.2942989247886607 }, "observed": 0.2942989247886607, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0856805234927955e-07, "upper": 1.0856805234927955e-07 }, "observed": 1.0856805234927955e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196556256328641e-09, "upper": 2.196556256328641e-09 }, "observed": 2.196556256328641e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000012, "evaluated_end_s": 0.6000000000000004, "evaluated_sample_count": 100, "evaluated_start_s": 0.4000000000000003, "newest_t_s": 0.6000000000000004, "source_sample_count": 100 } }, "timing_ns": [ 298209, 297167, 291666, 290792, 291750, 290458, 293875, 292417, 293667, 299458, 290916, 296042, 294292, 293042, 294417, 292416, 292458, 295709, 292208, 298959, 288166, 293500, 295958, 294458, 293500, 295875, 295667, 295625, 310875, 397500, 307416, 302416, 298209, 306292, 295458, 299875, 295292, 324709, 297750, 290125, 297750, 295375, 295542, 297667, 298834, 292792, 299458, 303042, 294792, 297666, 297583, 297167, 297292, 297417, 296000, 298291, 297625, 298625, 294583, 293583, 298875, 296042, 322125, 294125, 295500, 299959, 298250, 297208, 294292, 293667, 293500, 296250, 293667, 294458, 295291, 292542, 297417, 296583, 293250, 293667, 293167, 295791, 293458, 297625, 329500, 398042, 311667, 296750, 296167, 296459, 304500, 307959, 305625, 293625, 298875, 329500, 305500, 306000, 305583, 297291 ] } ], "schema": "dvidia.local-goal-results/v1", "source_commit": "b4c76b13ccbdaff4f01726bee50fae5fcc1e4e4a", "status": "completed", "timing_scope": "perf_counter_ns around verify_goal only, with parsed observations and trusted goal already in memory. Excludes acquisition, the required 200 ms history accumulation, serialization, I/O, rendering, networking and actuation. Repeated-call microbenchmark, not end-to-end robot latency." }