{
  "fixtures": [
    {
      "id": "supported_exact_multimodal",
      "expected_verdict": "SUPPORTED",
      "expected": {
        "audio:left_tone": {
          "modality": "audio",
          "signal": {"id": "left_tone", "kind": "tone", "ms": 240, "hz": 180, "sweep": 0, "amp": 0.4}
        },
        "vision:corner": {
          "modality": "vision",
          "signal": {"id": "corner", "kind": "corner", "size": 32}
        },
        "sensorimotor:contact": {
          "modality": "sensorimotor",
          "signal": {
            "id": "contact",
            "pose_q": [10, -4, 3],
            "velocity_q": [1, 0, -1],
            "force_torque_q": [2, 3, 5],
            "contact_q": [1, 0, 1, 0],
            "actuator_state_q": [7, 8]
          }
        }
      },
      "actual": "same"
    },
    {
      "id": "falsified_changed_contact",
      "expected_verdict": "FALSIFIED",
      "expected": {
        "sensorimotor:contact": {
          "modality": "sensorimotor",
          "signal": {
            "id": "contact_expected",
            "pose_q": [10, -4, 3],
            "velocity_q": [1, 0, -1],
            "force_torque_q": [2, 3, 5],
            "contact_q": [1, 0, 1, 0],
            "actuator_state_q": [7, 8]
          }
        }
      },
      "actual": {
        "sensorimotor:contact": {
          "modality": "sensorimotor",
          "signal": {
            "id": "contact_actual",
            "pose_q": [10, -4, 3],
            "velocity_q": [1, 0, -1],
            "force_torque_q": [2, 3, 5],
            "contact_q": [0, 0, 0, 0],
            "actuator_state_q": [7, 8]
          }
        }
      }
    },
    {
      "id": "falsified_missing_and_unexpected",
      "expected_verdict": "FALSIFIED",
      "expected": {
        "audio:left_tone": {
          "modality": "audio",
          "signal": {"id": "left_tone_expected", "kind": "tone", "ms": 240, "hz": 180, "sweep": 0, "amp": 0.4}
        },
        "vision:box": {
          "modality": "vision",
          "signal": {"id": "box_expected", "kind": "contour_box", "size": 32}
        }
      },
      "actual": {
        "audio:left_tone": {
          "modality": "audio",
          "signal": {"id": "left_tone_actual", "kind": "tone", "ms": 240, "hz": 180, "sweep": 0, "amp": 0.4}
        },
        "sensorimotor:unexpected_contact": {
          "modality": "sensorimotor",
          "signal": {
            "id": "unexpected_contact",
            "pose_q": [0, 0, 1],
            "velocity_q": [0, 0, 0],
            "force_torque_q": [1, 1, 1],
            "contact_q": [1],
            "actuator_state_q": [2]
          }
        }
      }
    }
  ]
}
