{
  "fabric_public_key_b64": "u5LHOkwx+MZi38tWL5gj1fc0n3WHmCJV639JGPPj5ao=",
  "system": {
    "system_id": "amr-1",
    "system_type": "PHYSICAL",
    "embodiment_type": "robot",
    "identity": "75495317bfc6503d28f25f1b42d5ddf1dae34bfa7b22bbf627b95df7ef8f4829",
    "provenance": "manufacturer:acme/serial-001",
    "tenant": "tenant-a",
    "capabilities": [
      "cap:move"
    ],
    "sensors": [
      "cam-1",
      "lidar-1",
      "gnss-1",
      "imu-1",
      "map-1"
    ],
    "actuators": [
      "drive-1"
    ],
    "environment": {},
    "spatial_reference": "CARTESIAN",
    "temporal_reference": "host-clock",
    "policy": "",
    "authority": "",
    "risk_state": "UNKNOWN",
    "consequence_profile": {},
    "attestation": "UNKNOWN",
    "self_entity": "amr-1",
    "runtime_state": "SAFE_STATE",
    "evidence": [],
    "digest": "13236c24cda537baa0ac6649a4b97f5bf9351a08ebdb67e13faa8bfadb319300",
    "authority_granted": "NONE"
  },
  "sensors": [
    {
      "sensor_id": "cam-1",
      "sensor_type": "camera",
      "source_identity": "amr-1/cam-1",
      "public_key_b64": "9XEu75BK/OcT1rEyAgiArCJNzWXM4i45RLa7jUZNkVM=",
      "system_id": "amr-1",
      "tenant": "tenant-a",
      "digest": "646529850884029b11053e02a34f9c6d818a3cdec1a30c3653f7d04805815334"
    },
    {
      "sensor_id": "lidar-1",
      "sensor_type": "lidar",
      "source_identity": "amr-1/lidar-1",
      "public_key_b64": "wxRjsm0biy454KxNF46wApx8SU3HFB5LtYomIqblsjQ=",
      "system_id": "amr-1",
      "tenant": "tenant-a",
      "digest": "e59012c97b85102c1e37909fbc3b7f3f16a7bad551e872766aca31c36d65797d"
    },
    {
      "sensor_id": "gnss-1",
      "sensor_type": "gnss",
      "source_identity": "amr-1/gnss-1",
      "public_key_b64": "LiyvgJ3r8Xa0DBka71dv8uCYmwazD0QFzO4MlggL5BA=",
      "system_id": "amr-1",
      "tenant": "tenant-a",
      "digest": "f783921374f52e8645d445c3b25d20ca87c9b797ac88e81372f79923df13e821"
    },
    {
      "sensor_id": "imu-1",
      "sensor_type": "imu",
      "source_identity": "amr-1/imu-1",
      "public_key_b64": "AxzMzAnEtgVs15Bq7Xg+TTIKjTzB+mJknuCAIZBpH6c=",
      "system_id": "amr-1",
      "tenant": "tenant-a",
      "digest": "eea5904b614913ef21ec51269af6ce6e0e96ef68de52cdd8fde4470f80e47b5e"
    },
    {
      "sensor_id": "map-1",
      "sensor_type": "map",
      "source_identity": "amr-1/map-1",
      "public_key_b64": "BKWcPIqV0ycBcAS7lXdTtJKz7odTwX3pi+hz0u3BqLU=",
      "system_id": "amr-1",
      "tenant": "tenant-a",
      "digest": "b6263a2db10ee3d757e62ddeadceaab70d2cb067ae976d2f4d9dd677a8806a96"
    }
  ],
  "trajectory": {
    "trajectory_id": "traj-1",
    "system_id": "amr-1",
    "tenant": "tenant-a",
    "origin": {
      "x": 10.0,
      "y": 10.0,
      "z": 0.0
    },
    "destination": {
      "x": 30.0,
      "y": 10.0,
      "z": 0.0
    },
    "path": [
      {
        "x": 20.0,
        "y": 10.0,
        "z": 0.0
      }
    ],
    "velocity_profile": [
      2.0,
      2.0,
      2.0
    ],
    "acceleration_profile": [
      0.0,
      0.0,
      0.0
    ],
    "timing": [
      1000.1999999999999,
      1005.1999999999999,
      1010.1999999999999
    ],
    "predicted_interactions": [],
    "constraints": {},
    "confidence": 0.9,
    "uncertainty": 0.2,
    "source_model": "wm-ext-1",
    "decision_binding": "",
    "capability_binding": "",
    "consequence_binding": "",
    "digest": "97c8509b52b01afdc3fba30958882ef5ee0fb82bcabd85bd35c31fc8a6c48803",
    "authorization_state": "AUTHORIZED",
    "authority": "NONE"
  },
  "approval": {
    "approval_id": "tap_d8c8bc1e1d1b8783",
    "trajectory_id": "traj-1",
    "trajectory_digest": "97c8509b52b01afdc3fba30958882ef5ee0fb82bcabd85bd35c31fc8a6c48803",
    "system_id": "amr-1",
    "world_state_digest": "57842d9d194c361c1e0eaf14e88c9e4e682488afd2eecbcad26b9816570b7c7c",
    "inputs_digest": "414228d9676506a149cd05b97003026548383c1fe482012284ece3b66b6cb6ce",
    "issued_at": 1000.0999999999999,
    "expires_at": 1005.0999999999999,
    "digest": "7d6f2faddcb3835b965c39c75feb487ee49390de5a3f59810b34975d9df91bfb",
    "issuer": "u5LHOkwx+MZi38tWL5gj1fc0n3WHmCJV639JGPPj5ao=",
    "signature_b64": "K0Wy0EwVDPWqDlJaLmekuzqJq/lDorSmt8W7rUn6Up4BWp34UbmGt6y3ZJvH98HRmvKAmlT+ubAUVeUO3f2aDA==",
    "revoked": true,
    "authority": "CONDITIONAL_TRAJECTORY_APPROVAL"
  },
  "step": {
    "step_id": "pas_4449a7f9f389a69d",
    "system_id": "amr-1",
    "trajectory_id": "traj-1",
    "world_state_id": "world:amr-1",
    "world_version": 11,
    "bindings": {
      "authority_digest": "146d5555196774df9eff5d2ca640e582468329852030a8ac0d68ce54e3ee2e71",
      "authorization_digest": "7d6f2faddcb3835b965c39c75feb487ee49390de5a3f59810b34975d9df91bfb",
      "capability_digest": "5b18be64e18b73f98b9e8071f3b02fae49362e8f5c6a70bafe608fe7b1579337",
      "consequence_digest": "d30229a07c6c2a2b60051ef99b68123fc152de033e9880cc74f423090ff32082",
      "decision_digest": "211a6f57d04f02d7fcdd7beaf3407a28c70b42311735cc8687d260097571d2b4",
      "policy_digest": "df10e10ee4bc82d18b052b2600a6ae81caf802ccb3278ed4984f5293c849acf8",
      "risk_digest": "f533fac30f2375865e798ccde58e5d32c7ce25a412b55b179f7af9bea910ff62",
      "trajectory_digest": "97c8509b52b01afdc3fba30958882ef5ee0fb82bcabd85bd35c31fc8a6c48803",
      "world_state_digest": "57842d9d194c361c1e0eaf14e88c9e4e682488afd2eecbcad26b9816570b7c7c"
    },
    "scope": {
      "max_duration_s": 2.0,
      "max_distance_m": 20.0
    },
    "issued_at": 1000.0999999999999,
    "expires_at": 1002.0999999999999,
    "nonce": "80c0d486d3332282c2c5cb74a4c22d8f",
    "sequence": 1,
    "digest": "462c6d0f4478d297008511c5a0d255f05f1e7049401a7d4f466bb74f3d49af44",
    "issuer": "u5LHOkwx+MZi38tWL5gj1fc0n3WHmCJV639JGPPj5ao=",
    "signature_b64": "9PAe3x7wm+ZNyq3DcGlnD3tfTFsPx24LBISwET4UUlumB1YVlr0erb0du8o/1VlQOobDs9oncAH2nRWPSZxgCg==",
    "authority": "CONDITIONAL_STEP"
  },
  "commit": {
    "action_id": "pact:amr-1:1",
    "principal": "tenant-a",
    "agent_id": "amr-1",
    "operation": "MOVE",
    "target": "zone:warehouse-a",
    "parameters": {
      "trajectory_id": "traj-1"
    },
    "risk_snapshot": 0.1,
    "world_state_digest": "57842d9d194c361c1e0eaf14e88c9e4e682488afd2eecbcad26b9816570b7c7c",
    "trajectory_digest": "97c8509b52b01afdc3fba30958882ef5ee0fb82bcabd85bd35c31fc8a6c48803",
    "decision_digest": "211a6f57d04f02d7fcdd7beaf3407a28c70b42311735cc8687d260097571d2b4",
    "capability_digest": "5b18be64e18b73f98b9e8071f3b02fae49362e8f5c6a70bafe608fe7b1579337",
    "authority_digest": "146d5555196774df9eff5d2ca640e582468329852030a8ac0d68ce54e3ee2e71",
    "policy_digest": "df10e10ee4bc82d18b052b2600a6ae81caf802ccb3278ed4984f5293c849acf8",
    "risk_digest": "f533fac30f2375865e798ccde58e5d32c7ce25a412b55b179f7af9bea910ff62",
    "consequence_digest": "d30229a07c6c2a2b60051ef99b68123fc152de033e9880cc74f423090ff32082",
    "authorization_digest": "7d6f2faddcb3835b965c39c75feb487ee49390de5a3f59810b34975d9df91bfb",
    "digest": "1c01c37b0de56fbd1aefee1713e035d1bf09a8729d8f1fc7572d007e7dec5368",
    "authority": "NONE"
  },
  "action": {
    "principal": "tenant-a",
    "agent_id": "amr-1",
    "intent_hash": "",
    "trajectory_hash": "97c8509b52b01afdc3fba30958882ef5ee0fb82bcabd85bd35c31fc8a6c48803",
    "capability_commitment": "5b18be64e18b73f98b9e8071f3b02fae49362e8f5c6a70bafe608fe7b1579337",
    "authority_commitment": "146d5555196774df9eff5d2ca640e582468329852030a8ac0d68ce54e3ee2e71",
    "policy_root": "df10e10ee4bc82d18b052b2600a6ae81caf802ccb3278ed4984f5293c849acf8",
    "world_state_root": "57842d9d194c361c1e0eaf14e88c9e4e682488afd2eecbcad26b9816570b7c7c",
    "consequence_hash": "d30229a07c6c2a2b60051ef99b68123fc152de033e9880cc74f423090ff32082",
    "risk_snapshot": 0.1,
    "target": "zone:warehouse-a",
    "operation": "MOVE",
    "parameters": {
      "physical_bindings": {
        "authority_digest": "146d5555196774df9eff5d2ca640e582468329852030a8ac0d68ce54e3ee2e71",
        "authorization_digest": "7d6f2faddcb3835b965c39c75feb487ee49390de5a3f59810b34975d9df91bfb",
        "capability_digest": "5b18be64e18b73f98b9e8071f3b02fae49362e8f5c6a70bafe608fe7b1579337",
        "consequence_digest": "d30229a07c6c2a2b60051ef99b68123fc152de033e9880cc74f423090ff32082",
        "decision_digest": "211a6f57d04f02d7fcdd7beaf3407a28c70b42311735cc8687d260097571d2b4",
        "policy_digest": "df10e10ee4bc82d18b052b2600a6ae81caf802ccb3278ed4984f5293c849acf8",
        "risk_digest": "f533fac30f2375865e798ccde58e5d32c7ce25a412b55b179f7af9bea910ff62",
        "trajectory_digest": "97c8509b52b01afdc3fba30958882ef5ee0fb82bcabd85bd35c31fc8a6c48803",
        "world_state_digest": "57842d9d194c361c1e0eaf14e88c9e4e682488afd2eecbcad26b9816570b7c7c"
      },
      "trajectory_id": "traj-1"
    },
    "parameters_digest": "0aa2ad81a13e49bb9a603656e7373511f8827f99405605760229220696c0d34f",
    "execution_context": "cain42.e15.physical",
    "enforcement_depth": "APPLICATION",
    "action_hash": "57dacc941dc1e94ec19d42753252d0ed46f45127f3721535828ddc7c6e4ae7cd",
    "authorization_id": "",
    "authorization_expiry": 0.0,
    "nonce": "",
    "authority": "NONE"
  },
  "gat": {
    "authorization_id": "gat_d885f13ec3a0fad17466830f",
    "agent_identity": "amr-1",
    "action_hash": "57dacc941dc1e94ec19d42753252d0ed46f45127f3721535828ddc7c6e4ae7cd",
    "capability_commitment": "5b18be64e18b73f98b9e8071f3b02fae49362e8f5c6a70bafe608fe7b1579337",
    "authority_commitment": "146d5555196774df9eff5d2ca640e582468329852030a8ac0d68ce54e3ee2e71",
    "trajectory_hash": "97c8509b52b01afdc3fba30958882ef5ee0fb82bcabd85bd35c31fc8a6c48803",
    "policy_root": "df10e10ee4bc82d18b052b2600a6ae81caf802ccb3278ed4984f5293c849acf8",
    "world_state_root": "57842d9d194c361c1e0eaf14e88c9e4e682488afd2eecbcad26b9816570b7c7c",
    "consequence_hash": "d30229a07c6c2a2b60051ef99b68123fc152de033e9880cc74f423090ff32082",
    "risk_ceiling": 0.100000001,
    "resource_scope": [
      "zone:warehouse-a"
    ],
    "capability": "MOVE",
    "resource": "zone:warehouse-a",
    "issued_at": 1000.0999999999999,
    "expires_at": 1002.0999999999999,
    "nonce": "ba6871bc50b3df49e18a921c30322b76",
    "sequence_number": 1,
    "single_use": true,
    "passport_digest": "",
    "bom_digest": "",
    "capability_set_digest": "",
    "runtime_composition_digest": "",
    "delegation_chain_digest": "",
    "evidence_set_digest": "",
    "consequence_digest": "d30229a07c6c2a2b60051ef99b68123fc152de033e9880cc74f423090ff32082",
    "decision_digest": "211a6f57d04f02d7fcdd7beaf3407a28c70b42311735cc8687d260097571d2b4",
    "intent_digest": "",
    "policy_digest": "df10e10ee4bc82d18b052b2600a6ae81caf802ccb3278ed4984f5293c849acf8",
    "authority_digest": "146d5555196774df9eff5d2ca640e582468329852030a8ac0d68ce54e3ee2e71",
    "risk_digest": "f533fac30f2375865e798ccde58e5d32c7ce25a412b55b179f7af9bea910ff62",
    "issuer": "u5LHOkwx+MZi38tWL5gj1fc0n3WHmCJV639JGPPj5ao=",
    "signature_b64": "Gvy3pnjyuDSpLZPuNcfl/1yQaoU7evunxExs+W1c7SP5qHQsRTgkN46ysUmXDLsZdFZZXvTW3sFwBOcQR4/iBw=="
  },
  "command": {
    "command_id": "cmd_0dfd8e84c8f6",
    "actuator_id": "drive-1",
    "system_id": "amr-1",
    "command_type": "MOVE_TO",
    "parameters": {
      "x": 20.0,
      "y": 10.0,
      "speed": 2.0
    },
    "command_schema": "cain.e15.reference-motion.v1",
    "action_hash": "57dacc941dc1e94ec19d42753252d0ed46f45127f3721535828ddc7c6e4ae7cd",
    "digest": "cb405719a289f91f4ff15868a7f22f540642bac13a911e487cef9605737ee4d9",
    "authority": "NONE"
  },
  "permit": {
    "permit_id": "prm_13ab97d0ef9f8e7c",
    "command_digest": "cb405719a289f91f4ff15868a7f22f540642bac13a911e487cef9605737ee4d9",
    "actuator_id": "drive-1",
    "system_id": "amr-1",
    "action_hash": "57dacc941dc1e94ec19d42753252d0ed46f45127f3721535828ddc7c6e4ae7cd",
    "step_id": "pas_4449a7f9f389a69d",
    "authorization_id": "gat_d885f13ec3a0fad17466830f",
    "issued_at": 1000.1999999999999,
    "expires_at": 1001.1999999999999,
    "nonce": "f3b52f336631126e4ae527c2a8d4370b",
    "digest": "2a927872448160d53aa58f45f70011fec23ca9f41f601cad5f38ac9a8ceb3f09",
    "issuer": "u5LHOkwx+MZi38tWL5gj1fc0n3WHmCJV639JGPPj5ao=",
    "signature_b64": "6PKGMuPwnrwZ46i8DI5xA1aeF0M58Xqntp1NqPG+pjqegzV1ILxY2cN6RVLoPvJpUPRbX6dGY6RTaeHkRw6NAg=="
  },
  "actuator_result": {
    "executed": true,
    "command_digest": "cb405719a289f91f4ff15868a7f22f540642bac13a911e487cef9605737ee4d9",
    "permit_digest": "2a927872448160d53aa58f45f70011fec23ca9f41f601cad5f38ac9a8ceb3f09",
    "feedback": {
      "applied": "MOVE_TO",
      "parameters": {
        "x": 20.0,
        "y": 10.0,
        "speed": 2.0
      },
      "adapter": "REFERENCE_TEST_DOUBLE"
    },
    "at": 1000.1999999999999,
    "result_digest": "11175016611f5e8e23deb4087300b6855160f758e32a6f80a160c9d687e351dc",
    "authority": "NONE"
  },
  "boundary_evidence": [
    {
      "stage": "committed",
      "decision": "COMMITTED",
      "commit_digest": "1c01c37b0de56fbd1aefee1713e035d1bf09a8729d8f1fc7572d007e7dec5368",
      "action_hash": "57dacc941dc1e94ec19d42753252d0ed46f45127f3721535828ddc7c6e4ae7cd",
      "step": "462c6d0f4478d297008511c5a0d255f05f1e7049401a7d4f466bb74f3d49af44",
      "permit": "2a927872448160d53aa58f45f70011fec23ca9f41f601cad5f38ac9a8ceb3f09",
      "authorization_id": "gat_d885f13ec3a0fad17466830f",
      "bindings": {
        "world_state_digest": "57842d9d194c361c1e0eaf14e88c9e4e682488afd2eecbcad26b9816570b7c7c",
        "trajectory_digest": "97c8509b52b01afdc3fba30958882ef5ee0fb82bcabd85bd35c31fc8a6c48803",
        "decision_digest": "211a6f57d04f02d7fcdd7beaf3407a28c70b42311735cc8687d260097571d2b4",
        "capability_digest": "5b18be64e18b73f98b9e8071f3b02fae49362e8f5c6a70bafe608fe7b1579337",
        "authority_digest": "146d5555196774df9eff5d2ca640e582468329852030a8ac0d68ce54e3ee2e71",
        "policy_digest": "df10e10ee4bc82d18b052b2600a6ae81caf802ccb3278ed4984f5293c849acf8",
        "risk_digest": "f533fac30f2375865e798ccde58e5d32c7ce25a412b55b179f7af9bea910ff62",
        "consequence_digest": "d30229a07c6c2a2b60051ef99b68123fc152de033e9880cc74f423090ff32082",
        "authorization_digest": "7d6f2faddcb3835b965c39c75feb487ee49390de5a3f59810b34975d9df91bfb"
      },
      "at": 1000.1999999999999,
      "seq": 0,
      "prev": "0000000000000000000000000000000000000000000000000000000000000000",
      "entry_digest": "e9d753fd6f55d85450cefd0bccff55f46afdae9ad5f793744d789e40a5897e0e"
    },
    {
      "stage": "step",
      "decision": "DENIED",
      "action": "REJECT",
      "reasons": [
        "STEP_REPLAYED",
        "STEP_SEQUENCE_REPLAY"
      ],
      "commit_digest": "1c01c37b0de56fbd1aefee1713e035d1bf09a8729d8f1fc7572d007e7dec5368",
      "at": 1000.1999999999999,
      "seq": 1,
      "prev": "e9d753fd6f55d85450cefd0bccff55f46afdae9ad5f793744d789e40a5897e0e",
      "entry_digest": "3a82129f8f1edc5a1890afcbf9ddd40a15425e6e37e26dba17217573a4daea9f"
    }
  ],
  "replayed_commit": {
    "committed": false,
    "stage": "step",
    "action": "REJECT",
    "reasons": [
      "STEP_REPLAYED",
      "STEP_SEQUENCE_REPLAY"
    ],
    "evidence": "3a82129f8f1edc5a1890afcbf9ddd40a15425e6e37e26dba17217573a4daea9f",
    "authority": "NONE"
  },
  "e8_evidence": [],
  "observation_after_step": {
    "drift": {
      "schema": "CAIN42/E15-SPATIAL-REALITY-DRIFT/v1",
      "drift": false,
      "material": false,
      "findings": [],
      "affected_entities": [],
      "action": "NONE",
      "evaluated_at": 1001.1999999999999,
      "expected_digest": "57842d9d194c361c1e0eaf14e88c9e4e682488afd2eecbcad26b9816570b7c7c",
      "observed_digest": "11766a9195a52330f693f371cc21054f657c3e7ca07455b9276071e0ab01de5e",
      "digest": "9359907ae0edd196263b19d2324f3cb9fbe4a2ea8a832a2aabed5a10c405d161",
      "authority": "NONE"
    },
    "revalidation": {
      "schema": "CAIN42/E15-CONTINUOUS-PHYSICAL-AUTHORIZATION/v1",
      "step_id": "pas_4449a7f9f389a69d",
      "decision": "REAUTHORIZE",
      "reasons": [
        "WORLD_STATE_CHANGED"
      ],
      "authority": "NONE"
    }
  },
  "reauthorization": {
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}
