{
  "simulator": {
    "simulator_id": "cain.reference-kinematic",
    "version": "1.0.0",
    "digest": "264fbffc49b14f4138d29d8ef44efc3d0213c542af971390d93ccfb61958e267",
    "kind": "REFERENCE_TEST_DOUBLE"
  },
  "simulation_evidence": {
    "evidence_id": "sim_7e9800b0b09c5474",
    "simulator_id": "cain.reference-kinematic",
    "simulator_version": "1.0.0",
    "simulator_digest": "264fbffc49b14f4138d29d8ef44efc3d0213c542af971390d93ccfb61958e267",
    "scenario_digest": "3094313abc8d977f9cda39c8f1b039fed4bbefcdd270c67940f18febd9429187",
    "environment": {
      "visibility": "good"
    },
    "world_state_digest": "18b01a050f11341b300b6e774a82704f395dd0c553eeff9185640421819b082e",
    "trajectory_digest": "1436fd7985b3df7a76f265148b8e79b39d49201aca836e4dbd0214b87c5f0bde",
    "model_versions": {
      "wm-ext-1": "1.0.0"
    },
    "policy_version": "warehouse-motion-v1",
    "actions": [
      "MOVE_TO"
    ],
    "outcome": {
      "min_separation_m": 4.0,
      "closest_entity": "ped-1",
      "final_position": {
        "x": 30.0,
        "y": 10.0,
        "z": 0.0
      },
      "collision": false
    },
    "failures": [],
    "evidence_class": "SIMULATED",
    "proves_real_world_safety": false,
    "at": 1000.1,
    "digest": "375eff22a2e18ec03508ded6d639e6f023ec670b627963f302fb080fd5c10ca6",
    "issuer": "jC3beCjMBgn4cPYhyJ89ddelS/oi1emplRSN/4APA+c=",
    "signature_b64": "RfVWN7AMCXp8ts0Wbow2TUTkzCgJvddnDQkN677l90xZSvoNhbj1Zr6gADGwP/07Z7BVI3jFF6Dgrhls3ndiCg==",
    "authority": "NONE"
  },
  "simulation_public_key_b64": "jC3beCjMBgn4cPYhyJ89ddelS/oi1emplRSN/4APA+c=",
  "scenario_lineage": [
    {
      "scenario_id": "warehouse-nominal",
      "system_domain": "PHYSICAL",
      "parameters": {
        "environment": {
          "visibility": "good"
        }
      },
      "author": "qa",
      "parent_digest": "",
      "mutation": {},
      "digest": "3094313abc8d977f9cda39c8f1b039fed4bbefcdd270c67940f18febd9429187",
      "evidence_class": "SIMULATED",
      "authority": "NONE"
    },
    {
      "scenario_id": "warehouse-nominal+weather",
      "system_domain": "PHYSICAL",
      "parameters": {
        "environment": {
          "visibility": "good"
        },
        "weather": "rain"
      },
      "author": "qa",
      "parent_digest": "3094313abc8d977f9cda39c8f1b039fed4bbefcdd270c67940f18febd9429187",
      "mutation": {
        "dimension": "weather",
        "value": "rain"
      },
      "digest": "8e32fa428270ba6dab306b6e111cbdfad1d10033d2a4b5dd9692f474e08de572",
      "evidence_class": "SIMULATED",
      "authority": "NONE"
    },
    {
      "scenario_id": "warehouse-nominal+weather+visibility",
      "system_domain": "PHYSICAL",
      "parameters": {
        "environment": {
          "visibility": "good"
        },
        "weather": "rain",
        "visibility": "poor"
      },
      "author": "qa",
      "parent_digest": "8e32fa428270ba6dab306b6e111cbdfad1d10033d2a4b5dd9692f474e08de572",
      "mutation": {
        "dimension": "visibility",
        "value": "poor"
      },
      "digest": "27d8f438a723d20ad91a1991046528065814b836106165a0ac9072cc5fe2a435",
      "evidence_class": "SIMULATED",
      "authority": "NONE"
    },
    {
      "scenario_id": "warehouse-nominal+weather+visibility+pedestrians",
      "system_domain": "PHYSICAL",
      "parameters": {
        "environment": {
          "visibility": "good"
        },
        "weather": "rain",
        "visibility": "poor",
        "pedestrians": 12
      },
      "author": "qa",
      "parent_digest": "27d8f438a723d20ad91a1991046528065814b836106165a0ac9072cc5fe2a435",
      "mutation": {
        "dimension": "pedestrians",
        "value": 12
      },
      "digest": "e6bbda1c6c0d7d9ca7046a61dc0a845bda85a08e4f48010174f2c1acad32698f",
      "evidence_class": "SIMULATED",
      "authority": "NONE"
    },
    {
      "scenario_id": "warehouse-nominal+weather+visibility+pedestrians+sensor_degradation",
      "system_domain": "PHYSICAL",
      "parameters": {
        "environment": {
          "visibility": "good"
        },
        "weather": "rain",
        "visibility": "poor",
        "pedestrians": 12,
        "sensor_degradation": "lidar"
      },
      "author": "qa",
      "parent_digest": "e6bbda1c6c0d7d9ca7046a61dc0a845bda85a08e4f48010174f2c1acad32698f",
      "mutation": {
        "dimension": "sensor_degradation",
        "value": "lidar"
      },
      "digest": "2642e2018deb23c1dcc4eb3643a8b1aeec55f6502d368836dae0b87f62226a62",
      "evidence_class": "SIMULATED",
      "authority": "NONE"
    },
    {
      "scenario_id": "warehouse-nominal+weather+visibility+pedestrians+sensor_degradation+communication_loss",
      "system_domain": "PHYSICAL",
      "parameters": {
        "environment": {
          "visibility": "good"
        },
        "weather": "rain",
        "visibility": "poor",
        "pedestrians": 12,
        "sensor_degradation": "lidar",
        "communication_loss": true
      },
      "author": "qa",
      "parent_digest": "2642e2018deb23c1dcc4eb3643a8b1aeec55f6502d368836dae0b87f62226a62",
      "mutation": {
        "dimension": "communication_loss",
        "value": true
      },
      "digest": "180344395313304e96e166c187194d5e847ecc509301912f3a204756ac93d82c",
      "evidence_class": "SIMULATED",
      "authority": "NONE"
    }
  ],
  "sim_reality_gap": {
    "assumption_mismatches": [
      "ped_speed_mps"
    ],
    "position_errors_m": {
      "amr-1": 0.3,
      "ped-1": 3.0
    },
    "gap": "HIGH",
    "unmeasured_entities": [],
    "digest": "3598f53a8f9bb64a567a487c36b35179f3ed5ad2fc859ebffa54fdc5a52c35f9",
    "proves_real_world_safety": false,
    "authority": "NONE"
  },
  "sim_reality_gap_unknown": {
    "assumption_mismatches": [],
    "position_errors_m": {},
    "gap": "UNKNOWN",
    "unmeasured_entities": [
      "a",
      "b"
    ],
    "digest": "158bddf63baf43aaa4337680ec77dc8bc948976fec7d207f127f1a0dae6f2d53",
    "proves_real_world_safety": false,
    "authority": "NONE"
  },
  "adversarial_scenarios": [
    {
      "attack_class": "sensor_spoofing",
      "description": "sensor_spoofing against the reference robot",
      "scenario": "3094313abc8d977f9cda39c8f1b039fed4bbefcdd270c67940f18febd9429187",
      "validation": "SIMULATED_IN_PROCESS",
      "real_world_validation": "NOT_PERFORMED",
      "digest": "2f1c656790dbe1445fbed39636fed6e9307b20e9b286ec57d3091ab6cf2a24f2",
      "authority": "NONE"
    },
    {
      "attack_class": "sensor_conflict",
      "description": "sensor_conflict against the reference robot",
      "scenario": "3094313abc8d977f9cda39c8f1b039fed4bbefcdd270c67940f18febd9429187",
      "validation": "SIMULATED_IN_PROCESS",
      "real_world_validation": "NOT_PERFORMED",
      "digest": "af5980dfc7d33b4d2dc1d2c0a54dcdd3e7f2c0e4e1b788174ecdde6817e3ef9d",
      "authority": "NONE"
    },
    {
      "attack_class": "gps_manipulation",
      "description": "gps_manipulation against the reference robot",
      "scenario": "3094313abc8d977f9cda39c8f1b039fed4bbefcdd270c67940f18febd9429187",
      "validation": "SIMULATED_IN_PROCESS",
      "real_world_validation": "NOT_PERFORMED",
      "digest": "8473e1f1b3f184dd4c1fce8a5586f6b70ac9a04cff9ffae7be7da6d707dcd77f",
      "authority": "NONE"
    },
    {
      "attack_class": "map_corruption",
      "description": "map_corruption against the reference robot",
      "scenario": "3094313abc8d977f9cda39c8f1b039fed4bbefcdd270c67940f18febd9429187",
      "validation": "SIMULATED_IN_PROCESS",
      "real_world_validation": "NOT_PERFORMED",
      "digest": "5094558ab90efa9a8ad73186b5498ae20992bbfe1e65b72b6d93e9a54192877e",
      "authority": "NONE"
    },
    {
      "attack_class": "stale_world_state",
      "description": "stale_world_state against the reference robot",
      "scenario": "3094313abc8d977f9cda39c8f1b039fed4bbefcdd270c67940f18febd9429187",
      "validation": "SIMULATED_IN_PROCESS",
      "real_world_validation": "NOT_PERFORMED",
      "digest": "cb1949069cdff54220f445f20d1d4539d2029b4c763361418b466e29e8dca57b",
      "authority": "NONE"
    },
    {
      "attack_class": "identity_substitution",
      "description": "identity_substitution against the reference robot",
      "scenario": "3094313abc8d977f9cda39c8f1b039fed4bbefcdd270c67940f18febd9429187",
      "validation": "SIMULATED_IN_PROCESS",
      "real_world_validation": "NOT_PERFORMED",
      "digest": "21d617ced0e0924871a9c22b297f276fba3c21a41c0aa28f628afec3b7c102af",
      "authority": "NONE"
    },
    {
      "attack_class": "trajectory_manipulation",
      "description": "trajectory_manipulation against the reference robot",
      "scenario": "3094313abc8d977f9cda39c8f1b039fed4bbefcdd270c67940f18febd9429187",
      "validation": "SIMULATED_IN_PROCESS",
      "real_world_validation": "NOT_PERFORMED",
      "digest": "cb69289a3b5cf0fcb7cff466a6833bb76856417a64607dd31bb8040d92556375",
      "authority": "NONE"
    },
    {
      "attack_class": "world_model_divergence",
      "description": "world_model_divergence against the reference robot",
      "scenario": "3094313abc8d977f9cda39c8f1b039fed4bbefcdd270c67940f18febd9429187",
      "validation": "SIMULATED_IN_PROCESS",
      "real_world_validation": "NOT_PERFORMED",
      "digest": "2f1f884215e1a7553affea8d1122ba51f4097da3e1ad70bc32a436ffd60bc8ca",
      "authority": "NONE"
    },
    {
      "attack_class": "communication_loss",
      "description": "communication_loss against the reference robot",
      "scenario": "3094313abc8d977f9cda39c8f1b039fed4bbefcdd270c67940f18febd9429187",
      "validation": "SIMULATED_IN_PROCESS",
      "real_world_validation": "NOT_PERFORMED",
      "digest": "4308ec8121b8ce37041e0b6043f1d23d047236f25b4e0dcee6d49b63548c2e07",
      "authority": "NONE"
    },
    {
      "attack_class": "latency",
      "description": "latency against the reference robot",
      "scenario": "3094313abc8d977f9cda39c8f1b039fed4bbefcdd270c67940f18febd9429187",
      "validation": "SIMULATED_IN_PROCESS",
      "real_world_validation": "NOT_PERFORMED",
      "digest": "fc5aaa47b77fea3be36e0d5ce0aedc7bcb67bf342dde2e6ea8fb06972cbbdaec",
      "authority": "NONE"
    },
    {
      "attack_class": "actuator_failure",
      "description": "actuator_failure against the reference robot",
      "scenario": "3094313abc8d977f9cda39c8f1b039fed4bbefcdd270c67940f18febd9429187",
      "validation": "SIMULATED_IN_PROCESS",
      "real_world_validation": "NOT_PERFORMED",
      "digest": "4b4bb58bad6986d230d41828a520508d573d9230c38cedc812c1bf26c99cdee5",
      "authority": "NONE"
    },
    {
      "attack_class": "environmental_uncertainty",
      "description": "environmental_uncertainty against the reference robot",
      "scenario": "3094313abc8d977f9cda39c8f1b039fed4bbefcdd270c67940f18febd9429187",
      "validation": "SIMULATED_IN_PROCESS",
      "real_world_validation": "NOT_PERFORMED",
      "digest": "3e96fb86562c0e66c0758abccf122f014d27d91f36d0c993e4b28862b6beddc1",
      "authority": "NONE"
    }
  ],
  "trajectory_digest": "1436fd7985b3df7a76f265148b8e79b39d49201aca836e4dbd0214b87c5f0bde"
}