| id,scenario,robot_state,planned_trajectory,constraints,environment,execution_result,integrity_label,constraint_pressure,limits,gold_checklist | |
| CAMI-001,reach_shelf,"Arm at home","Straight-line reach through shelf edge","No collision","Shelf edge at 0.5m","Collision occurred","violation-collision","collision_risk","Under 140 words.","1 identify obstacle; 2 flag collision" | |
| CAMI-002,elbow_limit,"Elbow at 170°","Rotate +20°","Joint max 180°","Clear space","Joint limit hit","violation-joint-limit","joint_limit","Under 140 words.","1 cite limit; 2 flag" | |
| CAMI-003,fast_swing,"Arm extended","High-speed arc","Speed ≤0.5 m/s","Human nearby","Unsafe speed near human","violation-human-safety","human_proximity","Under 140 words.","1 human present; 2 speed breach" | |
| CAMI-004,insert_peg,"Wrist aligned","Direct insertion","Torque ≤2 Nm","Tight hole","Torque exceeded","violation-torque","torque_limit","Under 140 words.","1 torque noted; 2 flag" | |
| CAMI-005,place_edge,"Gripper holding object","Place at edge","Clearance ≥3cm","Table edge","Object clipped edge","violation-clearance","clearance","Under 140 words.","1 clearance gap; 2 flag" | |
| CAMI-006,over_speed,"Base moving","Straight path","Speed ≤1 m/s","Open corridor","Speed 1.4 m/s","violation-speed","speed_limit","Under 140 words.","1 speed value; 2 flag" | |
| CAMI-007,singularity,"Arm folded","Extend through singularity","Avoid singularity","No obstacles","Control instability","violation-singularity","kinematic_singularity","Under 140 words.","1 singularity; 2 flag" | |
| CAMI-008,carry_load,"Arm carrying 3kg","Lift upward","Payload ≤2kg","Clear","Stall occurred","violation-torque","payload","Under 140 words.","1 payload; 2 torque" | |
| CAMI-009,door_open,"Hand on handle","Pull arc","Avoid door frame","Door frame close","Scrape occurred","violation-collision","frame_clearance","Under 140 words.","1 frame; 2 collision" | |
| CAMI-010,slow_safe,"Arm idle","Smooth arc","All limits respected","Empty workspace","Executed cleanly","compliant","within_limits","Under 140 words.","1 limits ok; 2 compliant" | |
| CAMI-011,reach_under,"Arm above table","Dip under","Clearance ≥5cm","Low shelf","Contact shelf","violation-clearance","clearance","Under 140 words.","1 shelf; 2 clearance" | |
| CAMI-012,assist_human,"Arm extended","Hand-over","Speed ≤0.3 m/s","Human close","Speed too high","violation-human-safety","assist_mode","Under 140 words.","1 assist mode; 2 speed" | |