{
  "source_commit": "f4f569ba979df443a37c553d266533a5e64e870e",
  "evidence_date": "2026-11-01",
  "hardware_io": false,
  "installed": false,
  "ruckig_version": "0.9.2",
  "ruckig_commit": "7de6b1035e1cad509251b31b3287d10fbcda6baf",
  "recorded_release": {
    "source_sha256": {
      "Tools/ContinuousArm/ContinuousArmController.hpp": "8a0e1ac411769cec03c53f1c65b252358a98e5fc7d6caf2faf0a5eadf751e7b8",
      "Tools/ContinuousArm/ContinuousArmController.cpp": "f1e0eac811ea4e073ce39c76fa4a493c09f7b2a8e5ed47f8aa01b4893ae9cfb2",
      "Tests/ROBContinuousArmControllerTests.cpp": "a87d4672530cbc2f4b080ad64a846dcd58d9f7e387035807338e636a9aa410fd"
    },
    "tests": [
      {
        "test": "explicit_limits_guard_stationary_start_no_takeover",
        "passed": true
      },
      {
        "metrics": "seven_joint_stream",
        "samples": 14000,
        "targets": 4200,
        "moving_retargets": 3898,
        "max_velocity_rad_s": 0.3,
        "max_acceleration_rad_s2": 0.6,
        "max_discrete_jerk_rad_s3": 2,
        "max_step_rad": 0.0015
      },
      {
        "test": "seven_joint_noisy_66hz_stream_200hz_owner_and_final_convergence",
        "passed": true
      },
      {
        "test": "thousand_command_burst_one_latest_target",
        "passed": true
      },
      {
        "test": "replay_reordering_foreign_generation_nan_bounds_and_time_rejected",
        "passed": true
      },
      {
        "test": "release_jerk_limited_stop_latched_reclutch_no_replay",
        "passed": true
      },
      {
        "test": "lost_tracking_stream_stops_and_does_not_auto_resume",
        "passed": true
      },
      {
        "test": "stale_feedback_tracking_error_mode_lease_stall_duplicate_tick_infinity_fault",
        "passed": true
      },
      {
        "test": "uncertain_transport_result_latches_no_retry",
        "passed": true
      },
      {
        "test": "changed_scene_rechecks_current_path_and_brakes",
        "passed": true
      },
      {
        "test": "blocked_stopping_envelope_faults_before_output",
        "passed": true
      },
      {
        "test": "analytical_braking_extrema_reject_near_limit_overshoot",
        "passed": true
      },
      {
        "test": "joint_limit_endpoint_and_reversal_without_wrapping",
        "passed": true
      },
      {
        "test": "3ms_7ms_jitter_integrates_time_without_burst_or_derivative_reseed",
        "passed": true
      },
      {
        "test": "concurrent_100000_packet_mailbox_latest_wins",
        "passed": true
      },
      {
        "test": "second_trajectory_worker_cannot_publish",
        "passed": true
      },
      {
        "test": "stop_and_publication_share_one_generation_barrier",
        "passed": true
      },
      {
        "test": "250_random_trajectories_526750_joint_samples_inside_analytic_envelopes",
        "passed": true
      },
      {
        "test": "constant_acceleration_zero_velocity_root_is_checked",
        "passed": true
      },
      {
        "test": "20_60_90_120hz_pose_streams_share_200hz_owner",
        "passed": true
      },
      {
        "result": "pass",
        "groups": 19,
        "hardware_io": false,
        "ruckig": "0.9.2"
      }
    ],
    "legacy_comparison": [
      {
        "case": "consistent_command_state",
        "start_rad": 0.34,
        "target_rad": 1.05,
        "seed_velocity_rad_s": 0.2,
        "seed_acceleration_rad_s2": 0,
        "minimum_rad": 0.34,
        "maximum_rad": 1.05,
        "duration_s": 2
      },
      {
        "case": "hypothetical_missed_sample",
        "start_rad": 0.34,
        "target_rad": 1.05,
        "seed_velocity_rad_s": 0,
        "seed_acceleration_rad_s2": -40,
        "minimum_rad": -5.26259621712,
        "maximum_rad": 1.05,
        "duration_s": 2.05691587591
      },
      {
        "case": "stationary_handoff",
        "start_rad": 0.34,
        "target_rad": 1.05,
        "seed_velocity_rad_s": 0,
        "seed_acceleration_rad_s2": 0,
        "minimum_rad": 0.34,
        "maximum_rad": 1.05,
        "duration_s": 2
      },
      {
        "case": "persistent_latest_target_prototype",
        "target_updates_hz": 20,
        "planner_hz": 200,
        "changes_while_moving": 155,
        "max_velocity_rad_s": 0.3,
        "max_acceleration_rad_s2": 0.6,
        "max_jerk_rad_s3": 2,
        "max_step_rad": 0.0015,
        "final_rad": 0.7
      }
    ]
  },
  "sanitizer_groups": {
    "Release": 19,
    "ASan_UBSan": 19,
    "TSan": 19
  },
  "interpretation": "Legacy comparison is a constructed numerical example, not a reconstructed physical incident. Replay uses idealized feedback. Limits are illustrative simulation values, not commissioned motor ratings.",
  "paper_id": "OR-WP-2026-001",
  "publication_date": "2026-11-04",
  "new_physical_tests_for_publication": false,
  "source_report": {
    "filename": "arm-transition-fix-2026-11-01.pdf",
    "sha256": "cada82b883f06f0246eb3749f097a33528d8e238e6109df3ac66729a770b868a",
    "public_original": false,
    "note": "Public edition adapts this private report; original operator and machine details are not redistributed."
  },
  "paper_version": "1.1",
  "project_background_url": "https://www.orbitusrobotics.com/whitepapers/rob-project-background.json",
  "source_references": [
    {
      "label": "[1] Continuous owner design and reproduction instructions (f4f569b)",
      "url": "https://github.com/RudyAramayo/Cerebro/tree/f4f569ba979df443a37c553d266533a5e64e870e/Tools/ContinuousArm"
    },
    {
      "label": "[2] Release, sanitizer and numerical records (November 1)",
      "url": "https://github.com/RudyAramayo/Cerebro/tree/f4f569ba979df443a37c553d266533a5e64e870e/docs/calibration/evidence/2026-11-01-continuous-arm"
    },
    {
      "label": "[3] Controller and model investigation (f4f569b)",
      "url": "https://github.com/RudyAramayo/Cerebro/blob/f4f569ba979df443a37c553d266533a5e64e870e/docs/calibration/continuous-arm-retargeting-2026-11-01.md"
    },
    {
      "label": "[4] Pinned Ruckig profile implementation (0.9.2 baseline)",
      "url": "https://github.com/pantor/ruckig/blob/7de6b1035e1cad509251b31b3287d10fbcda6baf/include/ruckig/profile.hpp"
    },
    {
      "label": "[5] ROB project chronology and public source index (v1.1)",
      "url": "https://www.orbitusrobotics.com/whitepapers/rob-project-background.json"
    },
    {
      "label": "[6] ROB software platform and operator interfaces",
      "url": "https://www.orbitusrobotics.com/products/"
    },
    {
      "label": "[7] ROB development and Maker Faire photo archive",
      "url": "https://www.orbitusrobotics.com/makerfaire/"
    }
  ]
}