{ "created_at": "2026-11-12T07:59:12Z", "result": { "engine": "physical_twin", "limits": "SIMULATED: recomputes the plan against the supplied twin state and numbers; no robot or instrument is contacted and a wrong world state gives a wrong verdict. It does not certify a physical system. The run is Ed25519-signed; pin the issuer key out of band.", "module": "cain_a75_engines/physicaltwin/engine.py", "profile": "simulated_lab_move", "run": { "label": "Recomputes an action plan against a SIMULATED digital twin: authority, envelope, zone geometry, deterministic simulation, penetration, human standoff and the plan's own claims. No hardware is contacted; a wrong world state gives a wrong verdict.", "public_key_b64": "j3PpRzrypDSGXqKYzbfuDX4H+kbEX2xOx1KV2toGTYc=", "records": [ { "checks": [ { "detail": "simulator 'SIMULATED'", "id": "binding.simulator_label", "ok": true }, { "detail": "the twin names a model and a version", "id": "binding.model_version", "ok": true }, { "detail": "position uncertainty 0.01 m", "id": "binding.uncertainty_declared", "ok": true }, { "detail": "named principal", "id": "authority.principal", "ok": true }, { "detail": "scope ['move', 'scan']", "id": "authority.scope", "ok": true }, { "detail": "expires 2000.0 > now 1000.0", "id": "authority.not_expired", "ok": true }, { "detail": "delegation is recorded (or absent)", "id": "authority.delegated", "ok": true }, { "detail": "0.2 <= 0.5 m/s", "id": "envelope.speed", "ok": true }, { "detail": "2.0 <= 20.0 N", "id": "envelope.force", "ok": true }, { "detail": "kind move in ['move', 'scan', 'pick', 'place']", "id": "envelope.kind_allowed", "ok": true }, { "detail": "every waypoint is inside an allowed zone", "id": "geometry.path_in_allowed", "ok": true }, { "detail": "no waypoint is inside a forbidden zone", "id": "geometry.path_clear_of_forbidden", "ok": true }, { "detail": "1 allowed, 1 forbidden", "id": "geometry.zones_declared", "ok": true }, { "detail": "the twin was asked", "id": "simulation.ran", "ok": true }, { "detail": "two runs give one effect", "id": "simulation.deterministic", "ok": true }, { "detail": "steps 1500", "id": "simulation.steps", "ok": true }, { "detail": "needs 15.0 s, horizon 20.0 s", "id": "simulation.horizon_covers_action", "ok": true }, { "detail": "collisions []", "id": "simulation.no_collision", "ok": true }, { "detail": "penetration 0.0 m", "id": "simulation.penetration_within_tolerance", "ok": true }, { "detail": "twin predicts 'vial-7 at station-b', plan intends 'vial-7 at station-b'", "id": "simulation.effect_matches_intent", "ok": true }, { "detail": "closest person 4.1231 m, required 0.16 m", "id": "humans.standoff", "ok": true }, { "detail": "claimed True, computed True", "id": "claims.effect_matches", "ok": true }, { "detail": "claimed True, computed True", "id": "claims.no_collision", "ok": true }, { "detail": "claimed True, computed True", "id": "claims.simulation_ran", "ok": true }, { "detail": "claimed True, computed True", "id": "claims.within_envelope", "ok": true }, { "detail": "plan states no hardware was contacted", "id": "honesty.simulation_not_hardware", "ok": true } ], "created_at": "2026-11-12T07:59:12Z", "engine": "a75-007/1.0.0", "extra": { "closest_human_m": 4.1231, "computed": { "effect_matches": true, "no_collision": true, "simulation_ran": true, "within_envelope": true }, "stop_distance_m": 0.16, "uncertainty_m": 0.01 }, "failed": [], "label": "Recomputes an action plan against a SIMULATED digital twin: authority, envelope, zone geometry, deterministic simulation, penetration, human standoff and the plan's own claims. No hardware is contacted; a wrong world state gives a wrong verdict.", "prev_record_hash": "b6139b0a6ccb7cfe6f19592854dcd36ca4a043802788c9d8afea8ecf9e4a08ac", "public_key_b64": "j3PpRzrypDSGXqKYzbfuDX4H+kbEX2xOx1KV2toGTYc=", "record_hash": "6489adb1da37c6a18ba56600d51ab34b636a3e7a038d805efac06ec302032c62", "schema": "cain42.a75.twin.record.v1", "signature_b64": "V3EfOoOLr2SavLDdtXW9nUgnNjLxa8ViZ4B6nmspqVKNNj3KIJtKpKv4KSNhmHY9ciZ5IwU0/o0nTGPklbtCDw==", "sku": "CAIN-A75-007", "subject": { "action": { "envelope": { "allowed_kinds": [ "move", "scan", "pick", "place" ], "max_force_n": 20.0, "max_payload_kg": 1.0, "max_penetration_m": 0.001, "max_speed_mps": 0.5, "reaction_s": 0.25, "stop_margin_m": 0.1 }, "expected_effect": "vial-7 at station-b", "id": "move-vial-7-to-b", "kind": "move", "params": { "force_n": 2.0, "path": [ [ 0.0, 0.0 ], [ 0.0, 1.5 ], [ 0.0, 3.0 ] ], "payload_kg": 0.05, "speed_mps": 0.2 }, "robot": "arm-1" }, "authorization": { "delegated_from": "human", "expires_at": 2000.0, "now": 1000.0, "principal": "human:dana", "scope": [ "move", "scan" ] }, "claims": { "effect_matches": true, "no_collision": true, "simulation_ran": true, "within_envelope": true }, "hardware_connected": false, "schema": "cain42.a75.twin.plan.v1", "simulation": { "collisions": [], "deterministic": true, "horizon_s": 20.0, "max_penetration_m": 0.0, "predicted_effect": "vial-7 at station-b", "ran": true, "steps": 1500 }, "twin": { "calibrated_at": "2026-11-01", "model_id": "twin-lab-arm-1", "simulator": "SIMULATED", "uncertainty": { "force_n": 0.2, "position_m": 0.01 }, "version": "1.4.0" }, "world": { "humans": [ { "id": "h1", "location": [ 4.0, 4.0 ] } ], "objects": [ { "id": "vial-7", "kind": "vial", "pose": [ 0.0, 0.0 ], "state": "sealed" } ], "zones": [ { "bounds": [ -5.0, 0.0, 5.0, 5.0 ], "id": "bench", "kind": "allowed" }, { "bounds": [ 1.0, 1.0, 2.0, 2.0 ], "id": "operator-aisle", "kind": "forbidden" } ] } }, "subject_sha256": "ecbb7d9c7c2d0ae7e5b15b3348d843f097399842dfca49ebf6f5702d7e3f399d", "verdict": "SAFE" } ], "run_hash": "0b0b730ecf042fcf08f871d1286078122246f0929ec9313a7caf87a7f9ecd1f5", "schema": "cain42.a75.twin.run.v1", "sku": "CAIN-A75-007", "verdict": "VERIFIED", "verdicts": [ "SAFE" ] }, "scenarios": [ { "closest_human_m": 4.1231, "name": "simulated_vial_move", "run_hash": "0b0b730ecf042fcf08f871d1286078122246f0929ec9313a7caf87a7f9ecd1f5", "stop_distance_m": 0.16, "verdict": "VERIFIED" }, { "expected": "SAFE", "name": "honest_simulated_move", "verdict": "SAFE" }, { "expected": "REFUSED", "name": "human_inside_stop_distance", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "speed_above_envelope", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "force_above_envelope", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "waypoint_inside_forbidden_zone", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "waypoint_outside_allowed_zones", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "simulation_not_run", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "simulation_not_deterministic", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "collision_reported", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "penetration_too_deep", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "predicted_effect_differs", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "horizon_too_short", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "authorization_expired", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "scope_does_not_cover_action", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "kind_not_permitted", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "uncertainty_missing", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "hardware_claimed_connected", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "twin_not_labelled_simulated", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "overstated_claim", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "unknown_claim_key", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "malformed_path", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "wrong_schema", "verdict": "REFUSED" }, { "expected": "REFUSED", "name": "garbage", "verdict": "REFUSED" } ], "summary": "VERIFIED: simulated move checked against envelope, zones, deterministic twin, human standoff and its own claims; 23/23 refusal cases as expected" }, "schema": "cain42.agentic75.findings.v1", "sku": "CAIN-A75-007" }