HJCD-IK/gpu-proof.json at main · A2R-Lab/HJCD-IK · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
{
  "environment": {
    "gpu_info": {
      "cuda_visible_devices": null,
      "devices": [
        {
          "compute_capability": "12.0",
          "driver_version": "615.71.09",
          "index": "0",
          "memory": "32607 MiB",
          "name": "NVIDIA GeForce RTX 5090",
          "uuid": "GPU-bf781ab0-9632-4b9a-497b-c3b846aae70c"
        }
      ],
      "source": "nvidia-smi"
    },
    "platform": "Linux-7.0.0-38-generic-x86_64-with-glibc2.39",
    "plugin_version": "0.4.1",
    "pytest_version": "9.1.1",
    "python_version": "3.12.3"
  },
  "fingerprint": {
    "algorithm": "sha256-manifest-v2",
    "digest": "3dc7ef26ff0aabaeec74d13cf6f933917be5d0e3d09cc86dd09db2fb5285928c",
    "excluded_paths": [
      "gpu-proof.json"
    ],
    "extra_paths": [],
    "file_count": 129,
    "included_paths": [
      ".gitmodules",
      "CMakeLists.txt",
      "README.md",
      "benchmark",
      "csrc",
      "docs/source",
      "examples",
      "external",
      "hjcdik",
      "pyproject.toml",
      "scripts",
      "tests"
    ]
  },
  "mode": "local",
  "repo": {
    "branch": "main",
    "commit_sha": "90cba36e90b38cdd766489223c1b9277ef95d30a",
    "dirty": false,
    "github_username": "plancherb1",
    "remote_url": "git@github.com:A2R-Lab/HJCD-IK.git"
  },
  "schema_version": "3",
  "session": {
    "ended_at": "2026-10-13T03:35:56Z",
    "node_ids": [
      "tests/test_api.py::test_positive_sizes_required[0-1]",
      "tests/test_api.py::test_positive_sizes_required[-1-1]",
      "tests/test_api.py::test_positive_sizes_required[10-0]",
      "tests/test_api.py::test_positive_sizes_required[10--2]",
      "tests/test_api.py::test_refine_precision_enum_is_validated[-2]",
      "tests/test_api.py::test_refine_precision_enum_is_validated[2]",
      "tests/test_api.py::test_refine_precision_enum_is_validated[99]",
      "tests/test_api.py::test_target_values_must_be_finite[nan]",
      "tests/test_api.py::test_target_values_must_be_finite[inf]",
      "tests/test_api.py::test_target_values_must_be_finite[-inf]",
      "tests/test_api.py::test_zero_quaternion_is_rejected",
      "tests/test_api.py::test_collision_mode_is_validated[invalid]",
      "tests/test_api.py::test_collision_mode_is_validated[auto]",
      "tests/test_api.py::test_collision_mode_is_validated[HARD]",
      "tests/test_api.py::test_collision_mode_is_validated[]",
      "tests/test_api.py::test_collision_arguments_are_required",
      "tests/test_api.py::test_target_quaternion_is_normalized_at_boundary",
      "tests/test_api.py::test_extreme_finite_quaternions_normalize_safely[1e-300]",
      "tests/test_api.py::test_extreme_finite_quaternions_normalize_safely[1e+300]",
      "tests/test_api.py::test_oversized_batch_is_rejected_before_allocation",
      "tests/test_api.py::test_no_visible_gpu_raises_without_terminating_python",
      "tests/test_api.py::test_stats_append_across_precision_modes_and_existing_calls",
      "tests/test_api.py::test_stats_write_failure_raises_and_next_solve_recovers",
      "tests/test_api.py::test_solution_fallback_removes_duplicates",
      "tests/test_api.py::test_gpu_entry_points_are_thread_safe",
      "tests/test_api.py::test_sample_targets_requires_positive_count[0]",
      "tests/test_api.py::test_sample_targets_requires_positive_count[-1]",
      "tests/test_api.py::test_sample_targets_rejects_launch_index_overflow_before_cuda",
      "tests/test_api.py::test_target_requires_one_seven_vector[target0]",
      "tests/test_api.py::test_target_requires_one_seven_vector[target1]",
      "tests/test_api.py::test_target_requires_one_seven_vector[target2]",
      "tests/test_api.py::test_noncontiguous_numpy_target_is_accepted_without_mutation",
      "tests/test_api.py::test_result_arrays_own_their_storage_and_survive_later_calls",
      "tests/test_api.py::test_public_functions_have_interactive_help",
      "tests/test_api.py::test_build_metadata_matches_header_without_a_visible_gpu",
      "tests/test_benchmark_setup.py::test_benchmark_delegates_to_canonical_codegen[False]",
      "tests/test_benchmark_setup.py::test_benchmark_delegates_to_canonical_codegen[True]",
      "tests/test_benchmark_setup.py::test_benchmark_codegen_skip_and_custom_target",
      "tests/test_benchmark_setup.py::test_benchmark_codegen_failure_propagates",
      "tests/test_benchmark_setup.py::test_paper_workflow_selects_collision_builds_without_running_benchmarks[False]",
      "tests/test_benchmark_setup.py::test_paper_workflow_selects_collision_builds_without_running_benchmarks[True]",
      "tests/test_benchmark_smoke.py::test_open_world_harness_runs",
      "tests/test_benchmark_smoke.py::test_collision_free_harness_runs",
      "tests/test_benchmark_tools.py::test_box_mesh_exports_as_one_exact_cuboid",
      "tests/test_benchmark_tools.py::test_regular_prism_exports_as_cylinder_with_circumradius",
      "tests/test_benchmark_tools.py::test_rectilinear_l_shape_decomposes_exactly_and_keeps_the_notch_free",
      "tests/test_benchmark_tools.py::test_grow_cuboids_shrinks_clearance_by_delta_per_face",
      "tests/test_benchmark_tools.py::test_link_sphere_loader_reproduces_the_foam_model",
      "tests/test_benchmark_tools.py::test_curobo_sphere_model_from_frozen_asset",
      "tests/test_benchmark_tools.py::test_exported_problem_schema_matches_dataset",
      "tests/test_codegen.py::test_failed_codegen_preserves_previous_header[flags0-fixed-base serial chain]",
      "tests/test_codegen.py::test_failed_codegen_preserves_previous_header[flags1-grid namespace]",
      "tests/test_codegen.py::test_failed_codegen_preserves_previous_header[flags2-None]",
      "tests/test_codegen.py::test_generation_failure_after_partial_write_preserves_header",
      "tests/test_codegen.py::test_unsupported_joint_geometry_is_rejected[prismatic-independent revolute]",
      "tests/test_codegen.py::test_unsupported_joint_geometry_is_rejected[negative_axis-local +Z]",
      "tests/test_codegen.py::test_explicit_glass_provenance_is_archive_reproducible",
      "tests/test_codegen.py::test_wrong_glass_provenance_preserves_previous_header",
      "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[None-obstacles must be an object]",
      "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles1-obstacles must be an object]",
      "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles2-unsupported obstacle type]",
      "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles3-unsupported obstacle type]",
      "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles4-positive]",
      "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles5-finite]",
      "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles6-three]",
      "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles7-positive]",
      "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles8-quaternion]",
      "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles9-positive]",
      "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles10-unsupported obstacle type]",
      "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles11-cuboid obstacle requires 'pose']",
      "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles12-cylinder obstacle requires 'pose']",
      "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles13-cuboid obstacle requires 'dims']",
      "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles14-sphere obstacle requires 'position']",
      "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles15-missing height/length]",
      "tests/test_collision.py::test_explicit_empty_scene_and_valid_scene_after_parse_error",
      "tests/test_collision.py::test_collision_free_runs_and_solves",
      "tests/test_collision.py::test_collision_free_matches_unconstrained_reach",
      "tests/test_collision.py::test_hard_mode_returns_no_solution_when_every_candidate_collides",
      "tests/test_collision.py::test_invalid_collision_problem_is_rejected",
      "tests/test_collision.py::test_collision_problem_index_is_checked",
      "tests/test_collision.py::test_collision_cache_includes_environment_contents",
      "tests/test_collision.py::test_document_switch_and_failed_scene_selection_do_not_reuse_geometry[0]",
      "tests/test_collision.py::test_document_switch_and_failed_scene_selection_do_not_reuse_geometry[1]",
      "tests/test_collision_model.py::test_compiled_spheres_match_independent_urdf_geometry",
      "tests/test_collision_model.py::test_all_reference_joint_frames_match_kinematic_urdf",
      "tests/test_collision_model.py::test_paper_default_is_preserved_and_openings_are_distinct",
      "tests/test_collision_model.py::test_obstacle_at_each_compiled_finger_distinguishes_reference[55]",
      "tests/test_collision_model.py::test_obstacle_at_each_compiled_finger_distinguishes_reference[56]",
      "tests/test_collision_model.py::test_obstacle_at_each_compiled_finger_distinguishes_reference[57]",
      "tests/test_collision_model.py::test_obstacle_at_each_compiled_finger_distinguishes_reference[58]",
      "tests/test_collision_model.py::test_model_metadata_identifies_opening_and_sources[paper-0.065]",
      "tests/test_collision_model.py::test_model_metadata_identifies_opening_and_sources[hjcd-0.04]",
      "tests/test_collision_model.py::test_unknown_model_is_rejected",
      "tests/test_collision_model.py::test_result_sidecar_records_validation_model_and_compiled_header",
      "tests/test_collision_model.py::test_grid_warp_tables_match_the_baked_collision_batch",
      "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[0-0-0-1]",
      "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[0-0-0-3]",
      "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[0-0-1-3]",
      "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[0-0-1-4]",
      "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[1-0-0-1]",
      "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[1-0-0-3]",
      "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[1-0-1-3]",
      "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[1-0-1-4]",
      "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[2-4-0-1]",
      "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[2-4-0-3]",
      "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[2-4-1-3]",
      "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[2-4-1-4]",
      "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[3-4-0-1]",
      "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[3-4-0-3]",
      "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[3-4-1-3]",
      "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[3-4-1-4]",
      "tests/test_collision_refinement.py::test_collision_repair_never_returns_a_blocked_fallback[0-0]",
      "tests/test_collision_refinement.py::test_collision_repair_never_returns_a_blocked_fallback[0-1]",
      "tests/test_collision_refinement.py::test_collision_repair_never_returns_a_blocked_fallback[4-0]",
      "tests/test_collision_refinement.py::test_collision_repair_never_returns_a_blocked_fallback[4-1]",
      "tests/test_examples.py::test_examples_run_from_another_directory[01_open_world_solve]",
      "tests/test_examples.py::test_examples_run_from_another_directory[02_collision_free_solve]",
      "tests/test_examples.py::test_examples_run_from_another_directory[03_batch_sweep]",
      "tests/test_examples.py::test_examples_handle_no_candidates[01_open_world_solve]",
      "tests/test_examples.py::test_examples_handle_no_candidates[02_collision_free_solve]",
      "tests/test_examples.py::test_examples_handle_no_candidates[03_batch_sweep]",
      "tests/test_examples.py::test_documented_quickstarts[README.md-## Quick Start]",
      "tests/test_examples.py::test_documented_quickstarts[docs/source/user_guide/getting_started/installation.md-## Quickstart]",
      "tests/test_examples.py::test_documented_quickstarts[docs/source/user_guide/upgrading.md-For example,]",
      "tests/test_examples.py::test_documented_quickstarts[docs/source/index.rst-Quick start]",
      "tests/test_examples.py::test_documented_quickstarts[docs/source/api_reference/python.rst-.. code-block:: python]",
      "tests/test_fk_equivalence.py::test_ee_position_matches_reference",
      "tests/test_fk_equivalence.py::test_ee_orientation_matches_reference",
      "tests/test_fk_equivalence.py::test_cp_wang_hash_known_values",
      "tests/test_fk_equivalence.py::test_cp_shifts_known_values_and_range",
      "tests/test_fk_equivalence.py::test_cp_shifts_dimension_specific_and_seed_dependent",
      "tests/test_fk_equivalence.py::test_cp_deterministic_for_fixed_seed",
      "tests/test_fk_equivalence.py::test_cp_seed_changes_sequence",
      "tests/test_fk_equivalence.py::test_cp_unit_interval_and_index_convention",
      "tests/test_fk_equivalence.py::test_no_scramble_is_raw_halton_and_ignores_method",
      "tests/test_fk_equivalence.py::test_legacy_digit_permutation_unchanged",
      "tests/test_fk_equivalence.py::test_cp_q_matches_direct_cuda_transcription",
      "tests/test_fk_equivalence.py::test_cp_generated_poses_finite_and_normalized",
      "tests/test_gpu_proof_policy.py::test_receipt_policy_cannot_narrow_the_source_scope",
      "tests/test_gpu_proof_policy.py::test_kernel_and_dependency_pin_changes_invalidate_fingerprint",
      "tests/test_initialization.py::test_checked_initialization_raises_cleans_up_and_retries[1-cudaMalloc(d_joint_limits)-sample]",
      "tests/test_initialization.py::test_checked_initialization_raises_cleans_up_and_retries[1-cudaMalloc(d_joint_limits)-solve]",
      "tests/test_initialization.py::test_checked_initialization_raises_cleans_up_and_retries[2-cudaMemcpy(d_joint_limits)-sample]",
      "tests/test_initialization.py::test_checked_initialization_raises_cleans_up_and_retries[2-cudaMemcpy(d_joint_limits)-solve]",
      "tests/test_initialization.py::test_checked_initialization_raises_cleans_up_and_retries[3-cudaMalloc(d_XImats)-sample]",
      "tests/test_initialization.py::test_checked_initialization_raises_cleans_up_and_retries[3-cudaMalloc(d_XImats)-solve]",
      "tests/test_initialization.py::test_checked_initialization_raises_cleans_up_and_retries[4-cudaMemcpy(d_XImats)-sample]",
      "tests/test_initialization.py::test_checked_initialization_raises_cleans_up_and_retries[4-cudaMemcpy(d_XImats)-solve]",
      "tests/test_initialization.py::test_checked_initialization_raises_cleans_up_and_retries[5-cudaMalloc(d_robotModel)-sample]",
      "tests/test_initialization.py::test_checked_initialization_raises_cleans_up_and_retries[5-cudaMalloc(d_robotModel)-solve]",
      "tests/test_initialization.py::test_checked_initialization_raises_cleans_up_and_retries[6-cudaMemcpy(d_robotModel)-sample]",
      "tests/test_initialization.py::test_checked_initialization_raises_cleans_up_and_retries[6-cudaMemcpy(d_robotModel)-solve]",
      "tests/test_multiwarp.py::test_multiwarp_matches_w1[2]",
      "tests/test_multiwarp.py::test_multiwarp_matches_w1[4]",
      "tests/test_multiwarp.py::test_multiwarp_matches_w1[8]",
      "tests/test_multiwarp.py::test_multiwarp_high_w_opt_in_smem",
      "tests/test_multiwarp.py::test_partial_last_block_no_crash[0]",
      "tests/test_multiwarp.py::test_partial_last_block_no_crash[1]",
      "tests/test_multiwarp.py::test_run_to_run_stability",
      "tests/test_multiwarp.py::test_default_config_solves",
      "tests/test_precision.py::test_fp32_refine_accuracy",
      "tests/test_precision.py::test_fp64_refine_accuracy",
      "tests/test_precision.py::test_auto_select_matches_explicit",
      "tests/test_precision.py::test_default_arg_is_auto",
      "tests/test_problem_document.py::test_exact_document_cache_and_failure_recovery",
      "tests/test_query_results.py::test_empty_query_is_serialized_and_counts_as_an_attempt",
      "tests/test_query_results.py::test_candidate_selection_requires_both_errors_on_one_candidate",
      "tests/test_query_results.py::test_hand_to_tcp_conversion_preserves_physical_hand_goal",
      "tests/test_query_results.py::test_sphere_obstacles_cannot_disappear_from_validation",
      "tests/test_query_results.py::test_mesh_oracle_constructs_spheres_without_optional_fcl",
      "tests/test_regression.py::test_no_regression_vs_baseline",
      "tests/test_regression.py::test_no_collision_free_regression_vs_baseline",
      "tests/test_regression.py::test_solver_runs_and_returns_solutions",
      "tests/test_stats.py::test_open_world_stats_report_accuracy_without_claiming_collision_checks",
      "tests/test_stats.py::test_collision_stats_use_the_selected_checks[hard]",
      "tests/test_stats.py::test_collision_stats_use_the_selected_checks[soft]",
      "tests/test_stats.py::test_collision_stats_use_the_selected_checks[both]",
      "tests/test_stats.py::test_both_mode_counts_include_self_collisions_with_empty_environment",
      "tests/test_stats.py::test_buffered_stats_write_failure_raises_and_next_solve_recovers",
      "tests/test_stats.py::test_stats_do_not_change_solver_outputs",
      "tests/test_stats_summary.py::test_summary_uses_only_measured_denominators[32,100,-1,100,-1\\n-expected0]",
      "tests/test_stats_summary.py::test_summary_uses_only_measured_denominators[32,2,1,4,1\\n-expected1]",
      "tests/test_stats_summary.py::test_summary_uses_only_measured_denominators[32,2,1,4,1\\n32,100,-1,100,-1\\n-expected2]",
      "tests/test_stats_summary.py::test_summary_uses_only_measured_denominators[32,0,0,0,0\\n-expected3]",
      "tests/test_stats_summary.py::test_summary_skips_truncated_rows",
      "tests/test_timing_contract.py::test_driver_accepts_neutral_generator_target_schema",
      "tests/test_timing_contract.py::test_driver_names_precision_and_never_times_correctness",
      "tests/test_timing_contract.py::test_gate_rejects_missing_duplicate_and_mixed_protocol_cells",
      "tests/test_timing_contract.py::test_gate_preflight_checks_provenance_without_gpu_work[None]",
      "tests/test_timing_contract.py::test_gate_preflight_checks_provenance_without_gpu_work[commit]",
      "tests/test_timing_contract.py::test_gate_preflight_checks_provenance_without_gpu_work[header]",
      "tests/test_timing_contract.py::test_gate_preflight_checks_provenance_without_gpu_work[binary]",
      "tests/test_timing_contract.py::test_gate_preflight_checks_provenance_without_gpu_work[input]"
    ],
    "outcome": "passed",
    "pytest_args": [
      "tests",
      "-m",
      "gpu_proof",
      "--gpu-proof-enable",
      "--gpu-proof-out=gpu-proof.json"
    ],
    "started_at": "2026-10-13T03:35:46Z"
  },
  "signature": {
    "value": "Er/dXTrYkFbsKUtJY/HnMXEKSyJoAMewfpURl5FFDpr9HVYbBqhp8A1Dv8QCHw1WQgVi+2ovxsa8Vc7J89KgAQ=="
  },
  "signer": {
    "algorithm": "ed25519",
    "backend": "ssh-local",
    "github_user": "plancherb1",
    "key_fingerprint": "SHA256:hfyUcDJTDLry3j7nJ9V2X8iEIgNFmFJQKGQirOdyWtY"
  },
  "tests": [
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_positive_sizes_required[0-1]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_positive_sizes_required[-1-1]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_positive_sizes_required[10-0]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_positive_sizes_required[10--2]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_refine_precision_enum_is_validated[-2]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_refine_precision_enum_is_validated[2]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_refine_precision_enum_is_validated[99]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_target_values_must_be_finite[nan]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_target_values_must_be_finite[inf]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_target_values_must_be_finite[-inf]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_zero_quaternion_is_rejected",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_collision_mode_is_validated[invalid]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_collision_mode_is_validated[auto]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_collision_mode_is_validated[HARD]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_collision_mode_is_validated[]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_collision_arguments_are_required",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.2862,
      "node_id": "tests/test_api.py::test_target_quaternion_is_normalized_at_boundary",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0014,
      "node_id": "tests/test_api.py::test_extreme_finite_quaternions_normalize_safely[1e-300]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0013,
      "node_id": "tests/test_api.py::test_extreme_finite_quaternions_normalize_safely[1e+300]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_oversized_batch_is_rejected_before_allocation",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0464,
      "node_id": "tests/test_api.py::test_no_visible_gpu_raises_without_terminating_python",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0057,
      "node_id": "tests/test_api.py::test_stats_append_across_precision_modes_and_existing_calls",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0029,
      "node_id": "tests/test_api.py::test_stats_write_failure_raises_and_next_solve_recovers",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0018,
      "node_id": "tests/test_api.py::test_solution_fallback_removes_duplicates",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0035,
      "node_id": "tests/test_api.py::test_gpu_entry_points_are_thread_safe",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_sample_targets_requires_positive_count[0]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_sample_targets_requires_positive_count[-1]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.032,
      "node_id": "tests/test_api.py::test_sample_targets_rejects_launch_index_overflow_before_cuda",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_target_requires_one_seven_vector[target0]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_target_requires_one_seven_vector[target1]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_api.py::test_target_requires_one_seven_vector[target2]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0019,
      "node_id": "tests/test_api.py::test_noncontiguous_numpy_target_is_accepted_without_mutation",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0027,
      "node_id": "tests/test_api.py::test_result_arrays_own_their_storage_and_survive_later_calls",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0,
      "node_id": "tests/test_api.py::test_public_functions_have_interactive_help",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0341,
      "node_id": "tests/test_api.py::test_build_metadata_matches_header_without_a_visible_gpu",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0002,
      "node_id": "tests/test_benchmark_setup.py::test_benchmark_delegates_to_canonical_codegen[False]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0002,
      "node_id": "tests/test_benchmark_setup.py::test_benchmark_delegates_to_canonical_codegen[True]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0003,
      "node_id": "tests/test_benchmark_setup.py::test_benchmark_codegen_skip_and_custom_target",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_benchmark_setup.py::test_benchmark_codegen_failure_propagates",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.003,
      "node_id": "tests/test_benchmark_setup.py::test_paper_workflow_selects_collision_builds_without_running_benchmarks[False]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.677,
      "node_id": "tests/test_benchmark_setup.py::test_paper_workflow_selects_collision_builds_without_running_benchmarks[True]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.2267,
      "node_id": "tests/test_benchmark_smoke.py::test_open_world_harness_runs",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.3624,
      "node_id": "tests/test_benchmark_smoke.py::test_collision_free_harness_runs",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0041,
      "node_id": "tests/test_benchmark_tools.py::test_box_mesh_exports_as_one_exact_cuboid",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0041,
      "node_id": "tests/test_benchmark_tools.py::test_regular_prism_exports_as_cylinder_with_circumradius",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0038,
      "node_id": "tests/test_benchmark_tools.py::test_rectilinear_l_shape_decomposes_exactly_and_keeps_the_notch_free",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_benchmark_tools.py::test_grow_cuboids_shrinks_clearance_by_delta_per_face",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0024,
      "node_id": "tests/test_benchmark_tools.py::test_link_sphere_loader_reproduces_the_foam_model",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0131,
      "node_id": "tests/test_benchmark_tools.py::test_curobo_sphere_model_from_frozen_asset",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0391,
      "node_id": "tests/test_benchmark_tools.py::test_exported_problem_schema_matches_dataset",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0347,
      "node_id": "tests/test_codegen.py::test_failed_codegen_preserves_previous_header[flags0-fixed-base serial chain]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0314,
      "node_id": "tests/test_codegen.py::test_failed_codegen_preserves_previous_header[flags1-grid namespace]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.3755,
      "node_id": "tests/test_codegen.py::test_failed_codegen_preserves_previous_header[flags2-None]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.1581,
      "node_id": "tests/test_codegen.py::test_generation_failure_after_partial_write_preserves_header",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.3636,
      "node_id": "tests/test_codegen.py::test_unsupported_joint_geometry_is_rejected[prismatic-independent revolute]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.3804,
      "node_id": "tests/test_codegen.py::test_unsupported_joint_geometry_is_rejected[negative_axis-local +Z]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.3268,
      "node_id": "tests/test_codegen.py::test_explicit_glass_provenance_is_archive_reproducible",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.1279,
      "node_id": "tests/test_codegen.py::test_wrong_glass_provenance_preserves_previous_header",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0002,
      "node_id": "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[None-obstacles must be an object]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles1-obstacles must be an object]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles2-unsupported obstacle type]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles3-unsupported obstacle type]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles4-positive]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles5-finite]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles6-three]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles7-positive]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles8-quaternion]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles9-positive]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles10-unsupported obstacle type]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles11-cuboid obstacle requires 'pose']",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles12-cylinder obstacle requires 'pose']",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles13-cuboid obstacle requires 'dims']",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles14-sphere obstacle requires 'position']",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_collision.py::test_malformed_collision_geometry_is_rejected[obstacles15-missing height/length]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0101,
      "node_id": "tests/test_collision.py::test_explicit_empty_scene_and_valid_scene_after_parse_error",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.1222,
      "node_id": "tests/test_collision.py::test_collision_free_runs_and_solves",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0276,
      "node_id": "tests/test_collision.py::test_collision_free_matches_unconstrained_reach",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0372,
      "node_id": "tests/test_collision.py::test_hard_mode_returns_no_solution_when_every_candidate_collides",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0237,
      "node_id": "tests/test_collision.py::test_invalid_collision_problem_is_rejected",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0459,
      "node_id": "tests/test_collision.py::test_collision_problem_index_is_checked",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0414,
      "node_id": "tests/test_collision.py::test_collision_cache_includes_environment_contents",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0327,
      "node_id": "tests/test_collision.py::test_document_switch_and_failed_scene_selection_do_not_reuse_geometry[0]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0687,
      "node_id": "tests/test_collision.py::test_document_switch_and_failed_scene_selection_do_not_reuse_geometry[1]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.001,
      "node_id": "tests/test_collision_model.py::test_compiled_spheres_match_independent_urdf_geometry",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.004,
      "node_id": "tests/test_collision_model.py::test_all_reference_joint_frames_match_kinematic_urdf",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0004,
      "node_id": "tests/test_collision_model.py::test_paper_default_is_preserved_and_openings_are_distinct",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0011,
      "node_id": "tests/test_collision_model.py::test_obstacle_at_each_compiled_finger_distinguishes_reference[55]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0011,
      "node_id": "tests/test_collision_model.py::test_obstacle_at_each_compiled_finger_distinguishes_reference[56]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0011,
      "node_id": "tests/test_collision_model.py::test_obstacle_at_each_compiled_finger_distinguishes_reference[57]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0011,
      "node_id": "tests/test_collision_model.py::test_obstacle_at_each_compiled_finger_distinguishes_reference[58]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0002,
      "node_id": "tests/test_collision_model.py::test_model_metadata_identifies_opening_and_sources[paper-0.065]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0004,
      "node_id": "tests/test_collision_model.py::test_model_metadata_identifies_opening_and_sources[hjcd-0.04]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0001,
      "node_id": "tests/test_collision_model.py::test_unknown_model_is_rejected",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0005,
      "node_id": "tests/test_collision_model.py::test_result_sidecar_records_validation_model_and_compiled_header",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0013,
      "node_id": "tests/test_collision_model.py::test_grid_warp_tables_match_the_baked_collision_batch",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0395,
      "node_id": "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[0-0-0-1]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0377,
      "node_id": "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[0-0-0-3]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0449,
      "node_id": "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[0-0-1-3]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0453,
      "node_id": "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[0-0-1-4]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0375,
      "node_id": "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[1-0-0-1]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0377,
      "node_id": "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[1-0-0-3]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0449,
      "node_id": "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[1-0-1-3]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0452,
      "node_id": "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[1-0-1-4]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],
      "duration_s": 0.0378,
      "node_id": "tests/test_collision_refinement.py::test_collision_refinement_partial_blocks[2-4-0-1]",
      "outcome": "passed",
      "phase": "call"
    },
    {
      "checks": [],