{
  "schema": "cain42.e18.end-to-end.v1",
  "steps": [
    {
      "step": "PERCEPTION",
      "ok": true
    },
    {
      "step": "EVIDENCE",
      "ok": true
    },
    {
      "step": "IDENTITY",
      "ok": true
    },
    {
      "step": "WORLD_STATE_CREATION",
      "ok": true
    },
    {
      "step": "PREDICTION",
      "ok": true
    },
    {
      "step": "REACHABLE_SETS",
      "ok": true
    },
    {
      "step": "TRAJECTORY_HYPOTHESES",
      "ok": true
    },
    {
      "step": "INTERACTION_GRAPH",
      "ok": true
    },
    {
      "step": "CONSEQUENCE_PREDICTION",
      "ok": true
    },
    {
      "step": "ACTIONABILITY",
      "ok": true
    },
    {
      "step": "AUTHORITY",
      "ok": true
    },
    {
      "step": "POLICY",
      "ok": true
    },
    {
      "step": "AUTHORIZATION",
      "ok": true
    },
    {
      "step": "E8_COMMIT",
      "ok": true
    },
    {
      "step": "SIMULATED_EXECUTION",
      "ok": true
    },
    {
      "step": "NEW_OBSERVATION",
      "ok": true
    },
    {
      "step": "WORLD_STATE_MUTATION",
      "ok": true
    },
    {
      "step": "AUTHORIZATION_INVALIDATION",
      "ok": true
    },
    {
      "step": "RE_EVALUATION",
      "ok": true
    },
    {
      "step": "SAFE_STATE_TRANSITION",
      "ok": true
    }
  ],
  "all_steps_ok": true,
  "committed": {
    "decision": "AUTHORIZED",
    "reasons": [],
    "command": "navigate:waypoint-1",
    "operation": "navigate",
    "target": "waypoint-1",
    "at": 6001.0,
    "bindings": {
      "world_digest": "3ac5cdd39d1b74e0f82d67613a12c1fe60b53e97d0b72612242972833b57cee9",
      "entity_digest": "f571617f9075e928d5470a09f24034514eba2f26a581e0f44aa96fe709df1323",
      "reachable_digest": "e4110b4c9011bbdcefbd1427113d42b958ae3c2679539728fb89ea747dc32e7d",
      "trajectory_digest": "1785a4524324a0630a558be0016a378931f000b2cebd17e70a9310b906a4c4e4",
      "intent_digest": "134a6cd012d1332a887176db90e703eb2ce8e612d293fe9d87beccc1ee828e69",
      "interaction_digest": "1b8d1dd6f6d1216e66005dd9eb058c532be83b38230a84a813c4c32a73af73d3",
      "conflict_digest": "2a32e4e44a4945a192ab1aeda63007a59c19dcb05b25bf4506a83d26ffa61b3e",
      "ttc_digest": "2d942081a43779e4efcb5fca51ff5544cb4d570790cf754c81782d6ce13ce2dd",
      "window_digest": "6071c49ddb2e49d2c7c18e02596bbc2f873f98bf36abb16a56d710132098bf39",
      "authority_digest": "f3b7fb3b27371907b4ca808ff03a1a1229ae168126eaf5ad2b5bf0fa2ca8d9c2",
      "capability_digest": "ac330ae7f71fdd0732e791f288f777dd52efb71b731d5c3c9b364cf947dd1b17",
      "policy_digest": "4c13427c4cf1624411b8fbd4b89ef05bb7559a04d370b33431c777a74739ebe1",
      "risk_digest": "60e40cc789c379006bdfe252367d3e49eb667987c82b3618334910fa6fd7dc17",
      "consequence_digest": "c1d5b592fb790ee6939fc0d5eb54fba6ad1834c75e019652b16ea135816b0a6f",
      "uncertainty_digest": "40f4908a5652a2958336e7eb915e368770e17799509f349dc969b48daf61213d",
      "command_digest": "e8e8ed6dd63ba48c4b0ce65e8df22ebcce473eb9afeee55869738b0b99122810"
    },
    "bound_fields": [
      "world_digest",
      "entity_digest",
      "reachable_digest",
      "trajectory_digest",
      "intent_digest",
      "interaction_digest",
      "conflict_digest",
      "ttc_digest",
      "window_digest",
      "authority_digest",
      "capability_digest",
      "policy_digest",
      "risk_digest",
      "consequence_digest",
      "uncertainty_digest",
      "command_digest"
    ],
    "world_id": "w4d-1",
    "digest": "00364687a9232420060ed6a8bc878bd0411ea4b3e176b00ad70adf8e8d74d783",
    "authority": "E8"
  },
  "reachable_car": {
    "entity_id": "car-1",
    "horizon": [
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      6001.0
    ],
    "spatial_boundary": [
      [
        -15.0,
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        -4.5
      ],
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      ]
    ],
    "velocity_constraints": [
      0.0,
      15.0
    ],
    "acceleration_constraints": [
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      5.0
    ],
    "actuator_constraints": [],
    "environment_constraints": [],
    "policy_constraints": [],
    "capability_constraints": [],
    "uncertainty_envelope": 0.15,
    "physically_reachable": [
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      ],
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    "policy_permitted": [
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      ],
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      ]
    ],
    "authorized": []
  },
  "reachable_drone": {
    "entity_id": "drone-1",
    "horizon": [
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    ],
    "spatial_boundary": [
      [
        -3.0,
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      ],
      [
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    ],
    "velocity_constraints": [
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      8.0
    ],
    "acceleration_constraints": [
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    ],
    "actuator_constraints": [],
    "environment_constraints": [],
    "policy_constraints": [],
    "capability_constraints": [],
    "uncertainty_envelope": 0.2,
    "physically_reachable": [
      [
        -3.0,
        -3.0,
        27.6
      ],
      [
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        30.0
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      ],
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        30.0
      ],
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        32.4
      ]
    ],
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      ],
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      ],
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      ],
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      ],
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        27.6
      ],
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        5.0,
        30.0
      ],
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        32.4
      ]
    ],
    "authorized": []
  },
  "trajectory_car": {
    "hypothesis_id": "tc",
    "entity_id": "car-1",
    "points": [
      [
        0.0,
        0.0,
        0.0,
        6000.0
      ],
      [
        8.0,
        0.0,
        0.0,
        6001.0
      ]
    ],
    "probability": 0.8,
    "assumptions": [],
    "source_model": "mdl-a",
    "model_version": "1.0.0",
    "horizon": 1.0,
    "uncertainty": 0.2,
    "consequence_estimate": 0.0,
    "interaction_dependencies": [],
    "layer": "PREDICTED"
  },
  "interaction": {
    "edges": [
      "0413670896fc8b1f1a606b133ab487c94a1ca044b0c23a5afad2e112b1e30a36",
      "2f56030c19225a8d426ac99a75552375551650c0838fbea9a709ed8c0a253413",
      "4d8d26503739dfbe1a62ebea962ffa1317408296406e3d3c8589ce77ef2e221d",
      "51de0e53b4ff3515fbdb4958d5917d182a661636bac8d01f3d51ece5bc800757",
      "5a74f0ab53a6a9742eabfd04655b5bc7908370cda5cb46a8b76e5c563c644295",
      "5dccf4db0c7bdd03f5501bc01e02be08c9cca3b3de1a01d801eb1cb2dcbfdf33",
      "b4941ed927517119ad1abc86e8eba413d39736dea41f1922ba9ed43fc17a5ef4",
      "c7ed522afda6a2c302ece27eec854422ef672d0473d56000ed15ef948d40eba3",
      "df00600b01c0ffbbe37af6d354f7826ac8ccef7a89c4b097bc468823a84b160a",
      "ed347e75a2c7df28ad9728e6934e1ff1a3a11fa8d8dbff1aec8f16888adc7db6"
    ],
    "count": 10,
    "relations": [
      "CONVERGING",
      "CONVERGING",
      "CONVERGING",
      "CONVERGING",
      "SEPARATING",
      "SEPARATING",
      "SEPARATING",
      "SEPARATING",
      "SEPARATING",
      "SEPARATING"
    ],
    "authority": "NONE"
  },
  "conflict": {
    "conflicts": [],
    "count": 0,
    "clear": true,
    "distance_is_not_safety": true,
    "authority": "NONE",
    "digest": "2a32e4e44a4945a192ab1aeda63007a59c19dcb05b25bf4506a83d26ffa61b3e"
  },
  "fusion": {
    "claim": "car-1.pos",
    "sources": 2,
    "independent_roots": 2,
    "values": [
      "ok"
    ],
    "agreement": true,
    "stale": 0,
    "safety_critical": true,
    "decision": "FUSED",
    "conflicting_safety_critical_resolves_to_allow": false,
    "authority": "NONE",
    "digest": "2a7132a10a4594d84c2f0fca6c346e70e2947055e4e6fef7a8945a7c38101c67"
  },
  "policy": {
    "policy_domain": "DRONE",
    "eligible": true,
    "reasons": [],
    "eligible_is_not_authorized": true,
    "authority": "NONE",
    "digest": "4c13427c4cf1624411b8fbd4b89ef05bb7559a04d370b33431c777a74739ebe1"
  },
  "consequence": {
    "action": "navigate",
    "state": "ACTIONABLE",
    "factors": {
      "physically_feasible": true,
      "temporally_feasible": true,
      "spatially_feasible": true,
      "policy_permitted": true,
      "capability_available": true,
      "authority_available": true,
      "consequence_acceptable": true,
      "uncertainty_acceptable": true,
      "boundary_reachable": true
    },
    "actionability_is_not_authorization": true,
    "authority": "NONE",
    "digest": "c1d5b592fb790ee6939fc0d5eb54fba6ad1834c75e019652b16ea135816b0a6f"
  },
  "uncertainty": {
    "stages": {
      "observation": 0.1,
      "world_state": 0.1,
      "prediction": 0.2,
      "trajectory": 0.2,
      "consequence": 0.2,
      "decision": 0.2,
      "authorization": 0.2
    },
    "monotone": true,
    "authority": "NONE",
    "digest": "40f4908a5652a2958336e7eb915e368770e17799509f349dc969b48daf61213d"
  },
  "recheck_reasons": [
    "WORLD_STATE_CHANGED"
  ],
  "safe_state": {
    "action": "safe_state",
    "state": "SAFE_STATE_ONLY",
    "factors": {
      "physically_feasible": true,
      "temporally_feasible": true,
      "spatially_feasible": true,
      "policy_permitted": true,
      "capability_available": true,
      "authority_available": true,
      "consequence_acceptable": false,
      "uncertainty_acceptable": true,
      "boundary_reachable": true
    },
    "actionability_is_not_authorization": true,
    "authority": "NONE",
    "digest": "06f74d799798d633519678fb9f16a626a4e012c311f5b7dff6d0585953c7d87c"
  },
  "control_authorized": true,
  "mutations": [
    {
      "mutation": "gps",
      "invalidated": true,
      "detail": "a GNSS position jump changes the world digest"
    },
    {
      "mutation": "camera",
      "invalidated": true,
      "detail": "a conflict field denies"
    },
    {
      "mutation": "lidar",
      "invalidated": true,
      "detail": "a changed reachable set breaks the binding"
    },
    {
      "mutation": "map",
      "invalidated": true,
      "detail": "a roadspace substitution changes the world digest"
    },
    {
      "mutation": "trajectory",
      "invalidated": true,
      "detail": "a trajectory change breaks the binding"
    },
    {
      "mutation": "geofence",
      "invalidated": true,
      "detail": "an expired geofence cannot authorize"
    },
    {
      "mutation": "policy",
      "invalidated": true,
      "detail": "an ineligible policy is refused even when window, bindings and E8 token are re-issued over it"
    },
    {
      "mutation": "authority",
      "invalidated": true,
      "detail": "a revoked authority is refused even when re-issued consistently"
    },
    {
      "mutation": "capability",
      "invalidated": true,
      "detail": "a capability outside the authority's domains is refused even when re-issued consistently"
    },
    {
      "mutation": "world_state",
      "invalidated": true,
      "detail": "a world-state change is refused"
    },
    {
      "mutation": "prediction",
      "invalidated": true,
      "detail": "a changed prediction (probability) breaks the trajectory binding"
    },
    {
      "mutation": "actuator_state",
      "invalidated": true,
      "detail": "an actuator that cannot execute (physically infeasible) is refused even when re-issued consistently"
    }
  ],
  "all_mutations_governed": true,
  "authority": "NONE"
}