{ "schema": "kinwit.timeline.v1", "case_id": "SIM-2026-0002", "scenario_id": "s01-ambiguous", "engine": "kinwit-facts/0.1.0", "shared_clock": "ROBOT_ROS_TIME", "record_start_ns": "1793697239999954375", "record_end_ns": "1793697254000000000", "duration_ms": 14000.046, "clock_model": { "status": "CALIBRATED", "t_ref_ns": "1793697240600830177", "samples_used": 7, "samples": [ { "seq": 0, "t0_rel_ns": 0, "t3_rel_ns": 46793151, "offset_ns": 37941248, "delay_ns": 46615151, "lower_ns": 14572672, "upper_ns": 61309823 }, { "seq": 1, "t0_rel_ns": 1998138715, "t3_rel_ns": 2026401986, "offset_ns": 44066973, "delay_ns": 28098271, "lower_ns": 29956837, "upper_ns": 58177108 }, { "seq": 2, "t0_rel_ns": 3998588564, "t3_rel_ns": 4068406464, "offset_ns": 41124309, "delay_ns": 69711900, "lower_ns": 6207359, "upper_ns": 76041259 }, { "seq": 3, "t0_rel_ns": 5999946262, "t3_rel_ns": 6115042212, "offset_ns": 1945086, "delay_ns": 114920950, "lower_ns": -55576389, "upper_ns": 59466561 }, { "seq": 4, "t0_rel_ns": 8003247230, "t3_rel_ns": 8054869296, "offset_ns": 45898060, "delay_ns": 51453066, "lower_ns": 20110527, "upper_ns": 71685593 }, { "seq": 5, "t0_rel_ns": 9999099198, "t3_rel_ns": 10042184812, "offset_ns": 44532318, "delay_ns": 42880614, "lower_ns": 23031011, "upper_ns": 66033625 }, { "seq": 6, "t0_rel_ns": 11995766354, "t3_rel_ns": 12044943421, "offset_ns": 31266436, "delay_ns": 49016067, "lower_ns": 6697402, "upper_ns": 55835469 } ], "polygon": [ { "a_ns": 30362117.397, "b_ppm": -200 }, { "a_ns": 58234622.271, "b_ppm": -200 }, { "a_ns": 53436315.729, "b_ppm": 200 }, { "a_ns": 29551556.603, "b_ppm": 200 } ], "skew_ppm_interval": [ -200, 200 ], "ls_estimate": { "a_ns": 40223764, "b_ppm": 486.819, "samples": 3 }, "bounds": { "robot_jitter_ns": 50000, "facility_jitter_ns": 10000, "facility_resolution_ns": 1000, "max_skew_ppm": 200 }, "assumptions": [ { "id": "A1", "text": "One-way network delays are non-negative (messages cannot arrive before they are sent)." }, { "id": "A2", "text": "The facility clock runs at a constant rate relative to the robot clock within the record window, with |skew| ≤ 200 ppm." }, { "id": "A3", "text": "Logged sync timestamps are within each source's declared jitter and resolution of the true send/receive instants." } ] }, "events": [ { "event_id": "E-001", "type": "NAV_GOAL_ACCEPTED", "label": "Navigation goal accepted", "source_id": "robot-controller-sim", "clock_domain": "ROBOT_ROS_TIME", "raw_timestamp_ns": "1793697240150012968", "native_lo_ns": "1793697240149962968", "native_hi_ns": "1793697240150062968", "aligned_lo_ns": "1793697240149962968", "aligned_hi_ns": "1793697240150062968", "timing_basis": "status publish time ± robot timestamp jitter", "locator": { "kind": "mcap_message", "file": "raw/robot_navigation.mcap", "topic": "/navigate_to_pose/_action/status", "topic_index": 0, "byte_start": 20749, "byte_end": 20813, "merkle_leaves": [ 0 ] }, "payload": { "status": 1 }, "provenance_kind": "observed_record", "simulated": true, "t_rel_ms": { "lo": 150.009, "mid": 150.059, "hi": 150.109 } }, { "event_id": "E-002", "type": "NAV_GOAL_EXECUTING", "label": "Navigation goal executing", "source_id": "robot-controller-sim", "clock_domain": "ROBOT_ROS_TIME", "raw_timestamp_ns": "1793697240199982616", "native_lo_ns": "1793697240199932616", "native_hi_ns": "1793697240200032616", "aligned_lo_ns": "1793697240199932616", "aligned_hi_ns": "1793697240200032616", "timing_basis": "status publish time ± robot timestamp jitter", "locator": { "kind": "mcap_message", "file": "raw/robot_navigation.mcap", "topic": "/navigate_to_pose/_action/status", "topic_index": 1, "byte_start": 27890, "byte_end": 27954, "merkle_leaves": [ 0 ] }, "payload": { "status": 2 }, "provenance_kind": "observed_record", "simulated": true, "t_rel_ms": { "lo": 199.978, "mid": 200.028, "hi": 200.078 } }, { "event_id": "E-003", "type": "FACILITY_SAFETY_INPUT_OPEN", "label": "Facility controller records zone safety input ESTOP-ZONE-B2 open", "source_id": "facility-controller-sim", "clock_domain": "FACILITY_PLC_CLOCK", "raw_timestamp_ns": "1793697251044368000", "native_lo_ns": "1793697251040357000", "native_hi_ns": "1793697251044379000", "aligned_lo_ns": "1793697250984199051", "aligned_hi_ns": "1793697251016099937", "timing_basis": "PLC scan timestamp: the input change happened up to one 4 ms scan earlier; mapped to the robot clock through the evidence-derived clock model", "locator": { "kind": "jsonl_line", "file": "raw/facility_controller.jsonl", "line": 19, "seq": 18, "byte_start": 5871, "byte_end": 6291, "merkle_leaves": [ 0 ] }, "payload": { "channel": "ESTOP-ZONE-B2", "zone_id": "ZONE-B2", "state": "OPEN", "input_kind": "zone_safety_input" }, "provenance_kind": "observed_record", "simulated": true, "t_rel_ms": { "lo": 10984.245, "mid": 11000.195, "hi": 11016.146 } }, { "event_id": "E-004", "type": "FACILITY_STOP_BROADCAST", "label": "Facility controller broadcasts stop request to zone approach group", "source_id": "facility-controller-sim", "clock_domain": "FACILITY_PLC_CLOCK", "raw_timestamp_ns": "1793697251045172000", "native_lo_ns": "1793697251045161000", "native_hi_ns": "1793697251045183000", "aligned_lo_ns": "1793697250989004012", "aligned_hi_ns": "1793697251016904098", "timing_basis": "send timestamp ± facility jitter and resolution; mapped to the robot clock through the evidence-derived clock model", "locator": { "kind": "jsonl_line", "file": "raw/facility_controller.jsonl", "line": 20, "seq": 19, "byte_start": 6292, "byte_end": 6640, "merkle_leaves": [ 0 ] }, "payload": { "channel": "ESTOP-ZONE-B2", "target_group": "zone-B2-approach", "assets": [ "SIM-AMR-01" ], "stop_category_requested": 1 }, "provenance_kind": "observed_record", "simulated": true, "t_rel_ms": { "lo": 10989.05, "mid": 11003, "hi": 11016.95 } }, { "event_id": "E-005", "type": "ROBOT_SAFETY_STOP_INPUT", "label": "Robot safety I/O registers external stop input", "source_id": "robot-controller-sim", "clock_domain": "ROBOT_ROS_TIME", "raw_timestamp_ns": "1793697251010000000", "native_lo_ns": "1793697251004950000", "native_hi_ns": "1793697251010050000", "aligned_lo_ns": "1793697251004950000", "aligned_hi_ns": "1793697251010050000", "timing_basis": "input sampled by a 200 Hz poll: true arrival within one poll period before the stamp, ± jitter", "locator": { "kind": "mcap_message", "file": "raw/robot_navigation.mcap", "topic": "/safety/stop_input", "topic_index": 0, "byte_start": 1027639, "byte_end": 1027748, "merkle_leaves": [ 15 ] }, "payload": { "channel": "ESTOP-ZONE-B2", "asserted": true, "io_path": "facility_safety_link/di_3" }, "provenance_kind": "observed_record", "simulated": true, "t_rel_ms": { "lo": 11004.996, "mid": 11007.546, "hi": 11010.096 } }, { "event_id": "E-006", "type": "ROBOT_STOP_CAT1_STARTED", "label": "Robot safety controller starts Category-1 controlled stop", "source_id": "robot-controller-sim", "clock_domain": "ROBOT_ROS_TIME", "raw_timestamp_ns": "1793697251010100000", "native_lo_ns": "1793697251010050000", "native_hi_ns": "1793697251010150000", "aligned_lo_ns": "1793697251010050000", "aligned_hi_ns": "1793697251010150000", "timing_basis": "header stamp ± robot timestamp jitter", "locator": { "kind": "mcap_message", "file": "raw/robot_navigation.mcap", "topic": "/safety/state", "topic_index": 0, "byte_start": 1026988, "byte_end": 1027068, "merkle_leaves": [ 15 ] }, "payload": { "state": "STOP_CAT1_DECEL", "stop_category": 1 }, "provenance_kind": "observed_record", "simulated": true, "t_rel_ms": { "lo": 11010.096, "mid": 11010.146, "hi": 11010.196 } }, { "event_id": "E-007", "type": "NAV_GOAL_ABORTED", "label": "Navigation goal aborted", "source_id": "robot-controller-sim", "clock_domain": "ROBOT_ROS_TIME", "raw_timestamp_ns": "1793697251049952495", "native_lo_ns": "1793697251049902495", "native_hi_ns": "1793697251050002495", "aligned_lo_ns": "1793697251049902495", "aligned_hi_ns": "1793697251050002495", "timing_basis": "status publish time ± robot timestamp jitter", "locator": { "kind": "mcap_message", "file": "raw/robot_navigation.mcap", "topic": "/navigate_to_pose/_action/status", "topic_index": 2, "byte_start": 1029520, "byte_end": 1029584, "merkle_leaves": [ 15 ] }, "payload": { "status": 6 }, "provenance_kind": "observed_record", "simulated": true, "t_rel_ms": { "lo": 11049.948, "mid": 11049.998, "hi": 11050.048 } }, { "event_id": "E-008", "type": "ROBOT_STOP_COMMAND", "label": "Zero velocity command recorded on /cmd_vel", "source_id": "robot-controller-sim", "clock_domain": "ROBOT_ROS_TIME", "raw_timestamp_ns": "1793697251050000000", "native_lo_ns": "1793697251050000000", "native_hi_ns": "1793697251050000000", "aligned_lo_ns": "1793697251050000000", "aligned_hi_ns": "1793697251050000000", "timing_basis": "MCAP publish time (Twist carries no header stamp)", "locator": { "kind": "mcap_message", "file": "raw/robot_navigation.mcap", "topic": "/cmd_vel", "topic_index": 217, "byte_start": 1029584, "byte_end": 1029667, 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