Safety stop with facility source missing (incomplete evidence test)

SIM-2026-0004·SIM-AMR-01·Robot log only·Integrity verifiedSimulated

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Facility signal → robot stop input

—

No facility source, so no cross-check is possible.

Robot reaction

30ms

Stop input to zero-velocity command, same clock

Time to stationary

0.91s

900–925 ms window, from odometry

Reported stop distance

0.56m

From 1.20 m/s, as reported by odometry

Replay

Warehouse W-01 · 00:08.518

Replay · recorded odometry

SIM-AMR-01 · 1.20 m/s

Timeline · shared robot clock00:08.518

Robot log

Facility log

Source not in this package

0 s

14.0 s

Split evidence · ±40 ms around E-003

Each bar is where the real instant can lie

E-003 · input sampled by a 200 Hz poll: true arrival within one poll period before the stamp, ± jitter. Interval 11014.950 – 11020.050 ms on the shared clock.

Events

8 recorded events, each linked to its exact bytes

ID	Time (shared clock)	Event	Recorded at
E-001	00:00.150 ±0.05 ms	Navigation goal accepted	/navigate_to_pose/_action/status #0 bytes 21,289–21,352 · chunk 0
E-002	00:00.200 ±0.05 ms	Navigation goal executing	/navigate_to_pose/_action/status #1 bytes 23,125–23,188 · chunk 0
E-003	00:11.018 ±2.55 ms	Robot safety I/O registers external stop input	/safety/stop_input #0 bytes 1,030,774–1,030,882 · chunk 15
E-004	00:11.020 ±0.05 ms	Robot safety controller starts Category-1 controlled stop	/safety/state #0 bytes 1,032,300–1,032,379 · chunk 15
E-005	00:11.050 ±0.05 ms	Navigation goal aborted	/navigate_to_pose/_action/status #2 bytes 1,033,266–1,033,329 · chunk 15
E-006	00:11.050 ±0.00 ms	Zero velocity command recorded on /cmd_vel	/cmd_vel #217 bytes 1,033,330–1,033,412 · chunk 15
E-007	00:11.930 ±10.05 ms	Odometry reports speed < 0.01 m/s held ≥ 200 ms	/odom #597 bytes 1,113,911–1,114,665 · chunk 16,17
E-008	00:12.140 ±0.05 ms	Robot safety controller reports drive power removed	/safety/state #1 bytes 1,132,024–1,132,109 · chunk 17

Clock alignment

Uncalibrated

No facility source in this package, so no clock relationship can be derived. Sources are shown on separate lanes and are not ordered against each other.

Key finding · F-001

E-003 Robot safety I/O registers external stop input → E-006 Zero velocity command recorded on /cmd_vel → E-007 Odometry reports speed < 0.01 m/s held ≥ 200 ms. Each step is ordered within its stated uncertainty.

Times are intervals after clock alignment derived from the evidence itself. Event order is not causation.

Findings

Click one to trace its evidence

What the data does not show

Anything the facility controller recorded: that source is missing from this package.
What opened the facility zone safety input (a person, a test, an equipment fault): the facility source records the input change, not its cause.
Whether any person or object was in the zone: no camera or person-detection source is present.
Whether physical contact occurred: no contact sensor is present, and a speed drop does not imply a collision.
Whether odometry matches the robot's true motion: there is no external ground-truth tracking source.
The true clock relationship outside assumptions A1–A3.
Cause, fault or responsibility. These are not assessed by KINWIT.