{
  "metadata": {
    "schema_version": "0.1.0",
    "language": "en",
    "status": "specified_unbound",
    "provenance_id": "ORIGINAL-2026-10-CATALOG",
    "source_lock": "../source-lock.json"
  },
  "id": "SELENE-SEQUENCE-001",
  "name": "Lunar collection, sealed-vial throw, catch and storage",
  "kind": "future_dynamics_contract_not_executable_motion_study",
  "existing_motion_policy": "Preserve and reuse the improved model motion studies, IK, links, traces and loop constraints. They provide kinematic authoring; they do not supply dynamic mass, contact impulses or granular physics.",
  "units": {
    "document_distance": "mm",
    "document_angle": "rad",
    "joint_command_angle": "deg",
    "solver_distance": "m",
    "solver_time": "s",
    "solver_mass": "kg",
    "solver_up_axis": "+Z",
    "conversion_boundary": "Convert lengths, rates, forces, torques and inertia exactly once between the native document and the SI solver."
  },
  "local_physics": {
    "gravity_m_s2": [
      0,
      0,
      -1.62
    ],
    "gravity_source_id": "SRC-MOON-FACTSHEET",
    "atmospheric_drag": false,
    "wind": false,
    "candidate_fixed_step_hz": 240,
    "step_status": "Initial convergence-test candidate, not established adequate accuracy.",
    "required_refinement_factors": [
      1,
      2,
      4
    ],
    "contact_parameters_status": "Unbound; mass, inertia, friction, restitution and actuator limits need provenance.",
    "grain_model": "Begin with aggregate sealed contents; a separate validated granular level is required for collection, spill or visible rearrangement."
  },
  "analytic_fixture_ids": [
    "PHY-001",
    "PHY-002",
    "PHY-003",
    "PHY-004",
    "PHY-005",
    "PHY-006"
  ],
  "trajectory_candidate": {
    "fixture_id": "PHY-002",
    "status": "synthetic_planning_candidate_not_reachable_motion",
    "apex_rise_m": 0.15,
    "equal_height_range_m": 0.04,
    "must_resolve": [
      "release and catch height",
      "arm reachable workspace",
      "collision clearances",
      "joint velocities and motor effort",
      "vial inertia and spin",
      "gripper aperture and capture tolerance"
    ]
  },
  "states": [
    {
      "id": "approach",
      "action": "Move the validated tool toward the sample patch.",
      "gates": [
        "Admitted source and derivative; no unresolved closed loops.",
        "Joint-limited collision-aware path with actuator rates and torque requirements checked."
      ],
      "exit_event": "tool_ready"
    },
    {
      "id": "collect",
      "action": "Collect a declared regolith mass with the reviewed tool.",
      "gates": [
        "Collection geometry exists and reaches the patch.",
        "Ground removal and container mass gain balance, including spill."
      ],
      "exit_event": "sample_loaded"
    },
    {
      "id": "seal",
      "action": "Close and verify the vial before the acrobatic sequence.",
      "gates": [
        "Separate lid/seal state and a mechanically feasible closure action.",
        "Contents mass and inertia updated; seal confirmed."
      ],
      "exit_event": "vial_sealed"
    },
    {
      "id": "withdraw",
      "action": "Move the sealed vial to a reachable launch pose.",
      "gates": [
        "Grasp contact is stable.",
        "No penetration of wings, rover, terrain or sample rack."
      ],
      "exit_event": "launch_ready"
    },
    {
      "id": "release",
      "action": "Remove grasp constraint and inherit actual rigid-body velocities.",
      "gates": [
        "v_COM = v_grip + omega_grip cross r in a single SI frame.",
        "Record source pose, release time, linear/angular velocity and sample mass."
      ],
      "exit_event": "free_flight"
    },
    {
      "id": "free_flight",
      "action": "Integrate translation and rotation in local lunar gravity.",
      "gates": [
        "No hidden parenting or attractor force.",
        "Continuous collision detection and solver-step convergence; vacuum baseline has no drag."
      ],
      "exit_event": "capture_or_miss"
    },
    {
      "id": "capture",
      "action": "Establish contact with a reachable moving gripper.",
      "gates": [
        "Relative velocity, impulses and motor effort remain within reviewed bounds.",
        "The contact solution determines success; no snap to a desired pose."
      ],
      "exit_event": "settling"
    },
    {
      "id": "settle",
      "action": "Resolve residual motion before rack insertion.",
      "gates": [
        "Stable grasp and contents retention.",
        "Momentum/energy accounting includes actuation and dissipated contact energy."
      ],
      "exit_event": "storage_ready"
    },
    {
      "id": "store",
      "action": "Insert and retain the vial in the sample box.",
      "gates": [
        "Rack/grommets remain on rover; vial and lid remain correctly assembled.",
        "Retention contact verified before the gripper releases."
      ],
      "exit_event": "stored"
    },
    {
      "id": "miss",
      "action": "Preserve a failed catch and its physical outcome.",
      "gates": [
        "No time rewind, teleport or success flag without contact.",
        "Keep the miss in diagnostics; recovery is a new planned action."
      ],
      "exit_event": "recovery_required"
    },
    {
      "id": "complete",
      "action": "Approve an immutable simulation bake for rendering.",
      "gates": [
        "Events, transforms, particles and source/solver hashes are recorded.",
        "Frame-rate and render-quality changes do not alter the approved physics."
      ],
      "exit_event": "approved_bake"
    }
  ],
  "transitions": [
    {
      "from": "approach",
      "to": "collect",
      "condition": "tool_ready"
    },
    {
      "from": "collect",
      "to": "seal",
      "condition": "sample_loaded"
    },
    {
      "from": "seal",
      "to": "withdraw",
      "condition": "vial_sealed"
    },
    {
      "from": "withdraw",
      "to": "release",
      "condition": "launch_ready"
    },
    {
      "from": "release",
      "to": "free_flight",
      "condition": "grasp_removed"
    },
    {
      "from": "free_flight",
      "to": "capture",
      "condition": "valid_contact"
    },
    {
      "from": "free_flight",
      "to": "miss",
      "condition": "catch_window_ended_without_valid_contact"
    },
    {
      "from": "capture",
      "to": "settle",
      "condition": "grasp_stable"
    },
    {
      "from": "settle",
      "to": "store",
      "condition": "storage_ready"
    },
    {
      "from": "store",
      "to": "complete",
      "condition": "retention_verified"
    },
    {
      "from": "capture",
      "to": "miss",
      "condition": "capture_failed"
    }
  ],
  "bake_contract": {
    "status": "specified_unbound",
    "requires": [
      "source_native_sha256",
      "derivative_native_sha256",
      "binding_revision",
      "simulation_parameter_sha256",
      "solver_name_and_revision",
      "time_step_and_convergence_report",
      "deterministic_seed",
      "sample_mass_history",
      "contact_and_grasp_events",
      "position_orientation_velocity_samples",
      "particle_state_when_enabled",
      "collision_proxy_revision",
      "approved_time_interval",
      "review_record"
    ],
    "render_sampling": "Interpolate validated states at actual shutter times; never extrapolate past the approved interval.",
    "invalidated_by": [
      "native geometry or hierarchy change",
      "binding or contact-proxy change",
      "physics parameter or solver change",
      "initial-state or event change"
    ],
    "not_invalidated_by": [
      "resolution",
      "render samples",
      "denoising",
      "exposure",
      "output color transform"
    ]
  },
  "preservation_rules": [
    "Do not overwrite the source showcase study.",
    "Use independent named derivative studies and simulation outputs.",
    "Do not infer friction, density or strength from an appearance recipe.",
    "Do not treat sampled kinematic interference checks as continuous dynamic collision detection."
  ]
}