{
  "title": "ZGY CORE Day 12 in-process clearance trial report",
  "method": "Actual Python mission, ROS-message substitutes, HTTP gateway, watchdog and simple ray-cast 2D motion. Live ROS/Gazebo not tested.",
  "passed": 11,
  "total": 11,
  "trials": [
    {
      "scenario": {
        "unknown_box_center_xy_m": [
          2.4,
          0.0
        ],
        "goal_xy_m": [
          3.5,
          0
        ]
      },
      "result": "PASS",
      "steps": 806,
      "seconds": 40.3,
      "replans": 2,
      "closest_footprint_clearance_m": 0.415,
      "final_pose_xy_m": [
        3.445,
        -0.137
      ],
      "watchdog_zero": true,
      "estop_zero": true,
      "source": "in-process ROS message and 2D dynamics substitutes; not a live Gazebo result",
      "name": "center"
    },
    {
      "scenario": {
        "unknown_box_center_xy_m": [
          2.4,
          0.15
        ],
        "goal_xy_m": [
          3.5,
          0
        ]
      },
      "result": "PASS",
      "steps": 806,
      "seconds": 40.3,
      "replans": 2,
      "closest_footprint_clearance_m": 0.536,
      "final_pose_xy_m": [
        3.445,
        -0.137
      ],
      "watchdog_zero": true,
      "estop_zero": true,
      "source": "in-process ROS message and 2D dynamics substitutes; not a live Gazebo result",
      "name": "north"
    },
    {
      "scenario": {
        "unknown_box_center_xy_m": [
          2.4,
          -0.15
        ],
        "goal_xy_m": [
          3.5,
          0
        ]
      },
      "result": "PASS",
      "steps": 806,
      "seconds": 40.3,
      "replans": 2,
      "closest_footprint_clearance_m": 0.295,
      "final_pose_xy_m": [
        3.445,
        -0.137
      ],
      "watchdog_zero": true,
      "estop_zero": true,
      "source": "in-process ROS message and 2D dynamics substitutes; not a live Gazebo result",
      "name": "south"
    },
    {
      "scenario": {
        "unknown_box_center_xy_m": [
          2.2,
          -0.15
        ],
        "goal_xy_m": [
          3.5,
          0
        ]
      },
      "result": "PASS",
      "steps": 704,
      "seconds": 35.2,
      "replans": 1,
      "closest_footprint_clearance_m": 0.33,
      "final_pose_xy_m": [
        3.397,
        -0.108
      ],
      "watchdog_zero": true,
      "estop_zero": true,
      "source": "in-process ROS message and 2D dynamics substitutes; not a live Gazebo result",
      "name": "near_south"
    },
    {
      "scenario": {
        "unknown_box_center_xy_m": [
          2.2,
          -0.25
        ],
        "goal_xy_m": [
          3.5,
          0
        ]
      },
      "result": "PASS",
      "steps": 711,
      "seconds": 35.55,
      "replans": 1,
      "closest_footprint_clearance_m": 0.28,
      "final_pose_xy_m": [
        3.399,
        -0.11
      ],
      "watchdog_zero": true,
      "estop_zero": true,
      "source": "in-process ROS message and 2D dynamics substitutes; not a live Gazebo result",
      "name": "close_south"
    },
    {
      "scenario": {
        "unknown_box_center_xy_m": [
          2.2,
          0.0
        ],
        "goal_xy_m": [
          3.5,
          0
        ]
      },
      "result": "PASS",
      "steps": 704,
      "seconds": 35.2,
      "replans": 1,
      "closest_footprint_clearance_m": 0.433,
      "final_pose_xy_m": [
        3.397,
        -0.108
      ],
      "watchdog_zero": true,
      "estop_zero": true,
      "source": "in-process ROS message and 2D dynamics substitutes; not a live Gazebo result",
      "name": "close_center"
    },
    {
      "scenario": {
        "unknown_box_center_xy_m": [
          2.4,
          0.25
        ],
        "goal_xy_m": [
          3.5,
          0
        ]
      },
      "result": "PASS",
      "steps": 705,
      "seconds": 35.25,
      "replans": 1,
      "closest_footprint_clearance_m": 0.506,
      "final_pose_xy_m": [
        3.407,
        -0.115
      ],
      "watchdog_zero": true,
      "estop_zero": true,
      "source": "in-process ROS message and 2D dynamics substitutes; not a live Gazebo result",
      "name": "far_north"
    },
    {
      "scenario": {
        "unknown_box_center_xy_m": [
          2.4,
          -0.25
        ],
        "goal_xy_m": [
          3.5,
          0
        ]
      },
      "result": "PASS",
      "steps": 815,
      "seconds": 40.75,
      "replans": 2,
      "closest_footprint_clearance_m": 0.256,
      "final_pose_xy_m": [
        3.448,
        -0.139
      ],
      "watchdog_zero": true,
      "estop_zero": true,
      "source": "in-process ROS message and 2D dynamics substitutes; not a live Gazebo result",
      "name": "far_south"
    },
    {
      "scenario": {
        "unknown_box_center_xy_m": [
          2.6,
          0.15
        ],
        "goal_xy_m": [
          2.6,
          0
        ]
      },
      "result": "SAFE_BLOCKED",
      "steps": 115,
      "seconds": 5.75,
      "replans": 1,
      "closest_footprint_clearance_m": 1.159,
      "final_pose_xy_m": [
        1.026,
        0.0
      ],
      "watchdog_zero": true,
      "estop_zero": true,
      "source": "in-process ROS message and 2D dynamics substitutes; not a live Gazebo result",
      "name": "goal_blocked"
    },
    {
      "scenario": {
        "unknown_box_center_xy_m": [
          2.6,
          -0.15
        ],
        "goal_xy_m": [
          2.6,
          0
        ]
      },
      "result": "SAFE_BLOCKED",
      "steps": 115,
      "seconds": 5.75,
      "replans": 1,
      "closest_footprint_clearance_m": 1.159,
      "final_pose_xy_m": [
        1.026,
        0.0
      ],
      "watchdog_zero": true,
      "estop_zero": true,
      "source": "in-process ROS message and 2D dynamics substitutes; not a live Gazebo result",
      "name": "goal_blocked_south"
    },
    {
      "scenario": {
        "unknown_box_center_xy_m": [
          2.6,
          0.0
        ],
        "goal_xy_m": [
          2.6,
          0
        ]
      },
      "result": "SAFE_BLOCKED",
      "steps": 115,
      "seconds": 5.75,
      "replans": 1,
      "closest_footprint_clearance_m": 1.159,
      "final_pose_xy_m": [
        1.026,
        0.0
      ],
      "watchdog_zero": true,
      "estop_zero": true,
      "source": "in-process ROS message and 2D dynamics substitutes; not a live Gazebo result",
      "name": "goal_blocked_center"
    }
  ]
}