{"cases":[{"frames":[{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.138,-3.23e-06,0.163],[-0.00700002,0.00066914,0.58799947],[-0.00700919,0.39266707,0.58672732],[-0.13400919,0.3926641,0.58672732],[-0.13401153,0.49266338,0.5863467]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.138,-3.23e-06,0.163],[-0.00700002,0.00066914,0.58799947],[-0.00700919,0.39266707,0.58672732],[-0.13400919,0.3926641,0.58672732],[-0.13401153,0.49266338,0.5863467]],"qposRad":[-1.57077292,-1.5692215,1.57246679,-1.57023542,-1.57079997,-0.0],"timeIndex":0,"timeSeconds":0.05},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.138,-8.48e-06,0.163],[-0.00700008,0.00124779,0.58799817],[-0.00702416,0.39324102,0.58569591],[-0.13402416,0.39323322,0.58569591],[-0.1340303,0.49323083,0.58500457]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.138,-8.48e-06,0.163],[-0.00700008,0.00124779,0.58799817],[-0.00702416,0.39324102,0.58569591],[-0.13402416,0.39323322,0.58569591],[-0.1340303,0.49323083,0.58500457]],"qposRad":[-1.57073489,-1.56785935,1.57373247,-1.56975597,-1.57080493,-5.36e-05],"timeIndex":1,"timeSeconds":0.1},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.138,-3.397e-05,0.163],[-0.00700038,0.00156117,0.58799713],[-0.00709686,0.39355111,0.58519094],[-0.13409686,0.39351986,0.58519094],[-0.13412147,0.49351623,0.58434013]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.138,-3.397e-05,0.163],[-0.00700038,0.00156117,0.58799713],[-0.00709686,0.39355111,0.58519094],[-0.13409686,0.39351986,0.58519094],[-0.13412147,0.49351623,0.58434013]],"qposRad":[-1.5705502,-1.56711892,1.57427761,-1.56944681,-1.57082332,-0.00025339],"timeIndex":2,"timeSeconds":0.15},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13799997,-8.919e-05,0.163],[-0.00700102,0.00157482,0.58799707],[-0.00725435,0.39356541,0.58529207],[-0.13425433,0.39348333,0.58529207],[-0.13431895,0.4934798,0.58445367]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13799997,-8.919e-05,0.163],[-0.00700102,0.00157482,0.58799707],[-0.00725435,0.39356541,0.58529207],[-0.13425433,0.39348333,0.58529207],[-0.13431895,0.4934798,0.58445367]],"qposRad":[-1.57015005,-1.56708021,1.57398075,-1.56931278,-1.57086124,-0.00066683],"timeIndex":3,"timeSeconds":0.2},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13799988,-0.0001807,0.163],[-0.00700167,0.00126739,0.58799808],[-0.00751496,0.39326221,0.58604952],[-0.13451486,0.39309591,0.58604952],[-0.1346458,0.49309377,0.58540831]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13799988,-0.0001807,0.163],[-0.00700167,0.00126739,0.58799808],[-0.00751496,0.39326221,0.58604952],[-0.13451486,0.39309591,0.58604952],[-0.1346458,0.49309377,0.58540831]],"qposRad":[-1.56948687,-1.56779265,1.5727635,-1.56935503,-1.57092294,-0.00134078],"timeIndex":4,"timeSeconds":0.25},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13799965,-0.00031283,0.163],[-0.00700144,0.00062759,0.58799951],[-0.00789005,0.39262626,0.58749051],[-0.13488973,0.39233836,0.58749051],[-0.13511641,0.49233779,0.58723822]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13799965,-0.00031283,0.163],[-0.00700144,0.00062759,0.58799951],[-0.00789005,0.39262626,0.58749051],[-0.13488973,0.39233836,0.58749051],[-0.13511641,0.49233779,0.58723822]],"qposRad":[-1.56852946,-1.5692823,1.57058078,-1.56957194,-1.57101124,-0.00230615],"timeIndex":5,"timeSeconds":0.3},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13799914,-0.00048811,0.163],[-0.00699881,-0.00034811,0.58799988],[-0.00838532,0.39164607,0.58962427],[-0.13538453,0.39119687,0.58962427],[-0.13573823,0.4911957,0.589955]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13799914,-0.00048811,0.163],[-0.00699881,-0.00034811,0.58799988],[-0.00838532,0.39164607,0.58962427],[-0.13538453,0.39119687,0.58962427],[-0.13573823,0.4911957,0.589955]],"qposRad":[-1.56725927,-1.57155715,1.56741329,-1.5699598,-1.5711278,-0.00358138],"timeIndex":6,"timeSeconds":0.35},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13799819,-0.00070776,0.163],[-0.00699159,-0.00165724,0.58799691],[-0.00900192,0.39031235,0.59244584],[-0.13600025,0.38966101,0.59244584],[-0.13651309,0.48965357,0.59355247]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13799819,-0.00070776,0.163],[-0.00699159,-0.00165724,0.58799691],[-0.00900192,0.39031235,0.59244584],[-0.13600025,0.38966101,0.59244584],[-0.13651309,0.48965357,0.59355247]],"qposRad":[-1.56566759,-1.57461131,1.56326176,-1.57051331,-1.57127341,-0.00517527],"timeIndex":7,"timeSeconds":0.4},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13799658,-0.00097193,0.163],[-0.00697698,-0.0032927,0.58798762],[-0.00973725,0.38861693,0.5959391],[-0.1367341,0.38772247,0.5959391],[-0.13743825,0.48769853,0.59801049]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13799658,-0.00097193,0.163],[-0.00697698,-0.0032927,0.58798762],[-0.00973725,0.38861693,0.5959391],[-0.1367341,0.38772247,0.5959391],[-0.13743825,0.48769853,0.59801049]],"qposRad":[-1.56375331,-1.57842812,1.55814234,-1.57122596,-1.57144821,-0.00708911],"timeIndex":8,"timeSeconds":0.45},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13799406,-0.00127995,0.163],[-0.00695166,-0.00524376,0.58796844],[-0.01058573,0.38655226,0.6000791],[-0.13758027,0.38537434,0.6000791],[-0.13850729,0.48531822,0.60329789]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13799406,-0.00127995,0.163],[-0.00695166,-0.00524376,0.58796844],[-0.01058573,0.38655226,0.6000791],[-0.13758027,0.38537434,0.6000791],[-0.13850729,0.48531822,0.60329789]],"qposRad":[-1.56152119,-1.58298265,1.55208321,-1.57209035,-1.57165177,-0.00931837],"timeIndex":9,"timeSeconds":0.5},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13799037,-0.00163054,0.163],[-0.0069119,-0.00749691,0.58793532],[-0.01153928,0.38411135,0.60483383],[-0.13853041,0.38261078,0.60483383],[-0.13971075,0.48250066,0.60937465]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13799037,-0.00163054,0.163],[-0.0069119,-0.00749691,0.58793532],[-0.01153928,0.38411135,0.60483383],[-0.13853041,0.38261078,0.60483383],[-0.13971075,0.48250066,0.60937465]],"qposRad":[-1.55898054,-1.58824361,1.54512179,-1.57309838,-1.57188327,-0.01185394],"timeIndex":10,"timeSeconds":0.55},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13798519,-0.00202192,0.163],[-0.00685369,-0.01003642,0.58788386],[-0.01258782,0.38128779,0.61016569],[-0.13957419,0.37942704,0.61016569],[-0.14103668,0.47923447,0.61619375]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13798519,-0.00202192,0.163],[-0.00685369,-0.01003642,0.58788386],[-0.01258782,0.38128779,0.61016569],[-0.13957419,0.37942704,0.61016569],[-0.14103668,0.47923447,0.61619375]],"qposRad":[-1.55614422,-1.59417476,1.53730271,-1.57424145,-1.57214154,-0.01468322],"timeIndex":11,"timeSeconds":0.6},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13797822,-0.00245193,0.163],[-0.00677285,-0.01284485,0.58780953],[-0.01371967,0.37807612,0.61603258],[-0.14069962,0.37581963,0.61603258],[-0.14247115,0.47550932,0.62370245]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13797822,-0.00245193,0.163],[-0.00677285,-0.01284485,0.58780953],[-0.01371967,0.37807612,0.61603258],[-0.14069962,0.37581963,0.61603258],[-0.14247115,0.47550932,0.62370245]],"qposRad":[-1.5530278,-1.60073606,1.52867615,-1.57551056,-1.57242521,-0.01779086],"timeIndex":12,"timeSeconds":0.65},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13796914,-0.00291812,0.163],[-0.0066652,-0.01590338,0.58770773],[-0.01492184,0.37447215,0.62238881],[-0.14189344,0.37178664,0.62238881],[-0.14399854,0.47131642,0.63184347]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13796914,-0.00291812,0.163],[-0.0066652,-0.01590338,0.58770773],[-0.01492184,0.37447215,0.62238881],[-0.14189344,0.37178664,0.62238881],[-0.14399854,0.47131642,0.63184347]],"qposRad":[-1.54964899,-1.60788455,1.51929659,-1.57689643,-1.57273267,-0.02115936],"timeIndex":13,"timeSeconds":0.7},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13795767,-0.0034178,0.163],[-0.00652668,-0.01919209,0.58757398],[-0.01618036,0.37047348,0.62918584],[-0.1431414,0.36732811,0.62918584],[-0.14560201,0.46664915,0.64055582]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13795767,-0.0034178,0.163],[-0.00652668,-0.01919209,0.58757398],[-0.01618036,0.37047348,0.62918584],[-0.1431414,0.36732811,0.62918584],[-0.14560201,0.46664915,0.64055582]],"qposRad":[-1.54602712,-1.61557496,1.50922189,-1.57838954,-1.57306217,-0.0247696],"timeIndex":14,"timeSeconds":0.75},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13794351,-0.00394813,0.163],[-0.00635344,-0.02269022,0.58740404],[-0.01748057,0.36607994,0.63637292],[-0.14442858,0.36244652,0.63637292],[-0.14726373,0.46150372,0.64977564]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13794351,-0.00394813,0.163],[-0.00635344,-0.02269022,0.58740404],[-0.01748057,0.36607994,0.63637292],[-0.14442858,0.36244652,0.63637292],[-0.14726373,0.46150372,0.64977564]],"qposRad":[-1.54218279,-1.62376028,1.49851246,-1.57998022,-1.57341186,-0.02860113],"timeIndex":15,"timeSeconds":0.8},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13792641,-0.0045061,0.163],[-0.00614201,-0.02637628,0.58719402],[-0.01880733,0.36129406,0.64389764],[-0.14573961,0.35714714,0.64389764],[-0.14896524,0.45587976,0.65943678]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13792641,-0.0045061,0.163],[-0.00614201,-0.02637628,0.58719402],[-0.01880733,0.36129406,0.64389764],[-0.14573961,0.35714714,0.64389764],[-0.14896524,0.45587976,0.65943678]],"qposRad":[-1.53813761,-1.63239212,1.48723077,-1.58165865,-1.57377978,-0.03263254],"timeIndex":16,"timeSeconds":0.85},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13790615,-0.00508862,0.163],[-0.00588937,-0.03022825,0.58694052],[-0.02014534,0.35612153,0.6517064],[-0.14705897,0.35143852,0.6517064],[-0.15068772,0.44978096,0.66947147]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13790615,-0.00508862,0.163],[-0.00588937,-0.03022825,0.58694052],[-0.02014534,0.35612153,0.6517064],[-0.14705897,0.35143852,0.6517064],[-0.15068772,0.44978096,0.66947147]],"qposRad":[-1.53391394,-1.64142097,1.47544085,-1.58341493,-1.57416391,-0.03684161],"timeIndex":17,"timeSeconds":0.9},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13788254,-0.00569249,0.163],[-0.00559304,-0.03422367,0.58664072],[-0.02147933,0.35057161,0.65974492],[-0.14837123,0.34533287,0.65974492],[-0.15241233,0.44321558,0.6798109]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13788254,-0.00569249,0.163],[-0.00559304,-0.03422367,0.58664072],[-0.02147933,0.35057161,0.65974492],[-0.14837123,0.34533287,0.65974492],[-0.15241233,0.44321558,0.6798109]],"qposRad":[-1.52953471,-1.65079652,1.46320795,-1.58523906,-1.57456216,-0.04120553],"timeIndex":18,"timeSeconds":0.95},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13785546,-0.00631446,0.163],[-0.00525119,-0.03833973,0.58629244],[-0.02279436,0.34465748,0.66795866],[-0.14966134,0.33884634,0.66795866],[-0.15412049,0.43619697,0.69038568]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13785546,-0.00631446,0.163],[-0.00525119,-0.03833973,0.58629244],[-0.02279436,0.34465748,0.66795866],[-0.14966134,0.33884634,0.66795866],[-0.15412049,0.43619697,0.69038568]],"qposRad":[-1.52502335,-1.66046774,1.45059831,-1.58712097,-1.57497242,-0.04570101],"timeIndex":19,"timeSeconds":1.0},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13782482,-0.00695125,0.163],[-0.0048627,-0.0425534,0.58589427],[-0.02407606,0.33839656,0.67629324],[-0.15091484,0.3319994,0.67629324],[-0.15579419,0.42874392,0.70112648]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13782482,-0.00695125,0.163],[-0.0048627,-0.0425534,0.58589427],[-0.02407606,0.33839656,0.67629324],[-0.15091484,0.3319994,0.67629324],[-0.15579419,0.42874392,0.70112648]],"qposRad":[-1.52040363,-1.67038307,1.43767893,-1.58905055,-1.57539252,-0.05030442],"timeIndex":20,"timeSeconds":1.05},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.1377489,-0.00832102,0.163],[-0.00427004,-0.04540398,0.58560412],[-0.02717166,0.33371717,0.68259212],[-0.15394057,0.32605943,0.68259212],[-0.15975135,0.42225299,0.70929479]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.1377489,-0.00832102,0.163],[-0.00427004,-0.04540398,0.58560412],[-0.02717166,0.33371717,0.68259212],[-0.15394057,0.32605943,0.68259212],[-0.15975135,0.42225299,0.70929479]],"qposRad":[-1.51046252,-1.67702871,1.42701385,-1.59108779,-1.57582555,-0.05499172],"timeIndex":21,"timeSeconds":1.1},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.137617,-0.01027424,0.163],[-0.00350963,-0.0470123,0.58543523],[-0.03169556,0.33052054,0.68711367],[-0.1583431,0.32106526,0.68711367],[-0.16548849,0.41677335,0.71520111]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.137617,-0.01027424,0.163],[-0.00350963,-0.0470123,0.58543523],[-0.03169556,0.33052054,0.68711367],[-0.1583431,0.32106526,0.68711367],[-0.16548849,0.41677335,0.71520111]],"qposRad":[-1.49627634,-1.6807129,1.41832883,-1.59311731,-1.57626148,-0.0597389],"timeIndex":22,"timeSeconds":1.15},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13741651,-0.01267684,0.163],[-0.00263512,-0.0476374,0.58537156],[-0.03733179,0.32847347,0.69025603],[-0.16379482,0.31680711,0.69025603],[-0.17258356,0.4120768,0.71934972]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13741651,-0.01267684,0.163],[-0.00263512,-0.0476374,0.58537156],[-0.03733179,0.32847347,0.69025603],[-0.16379482,0.31680711,0.69025603],[-0.17258356,0.4120768,0.71934972]],"qposRad":[-1.47880549,-1.68207033,1.41120801,-1.59513996,-1.57669903,-0.06452161],"timeIndex":23,"timeSeconds":1.2},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13713543,-0.01542319,0.163],[-0.00170461,-0.0474764,0.58539447],[-0.04385446,0.32729934,0.69230816],[-0.1700588,0.31310553,0.69230816],[-0.18072725,0.40796411,0.72210806]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13713543,-0.01542319,0.163],[-0.00170461,-0.0474764,0.58539447],[-0.04385446,0.32729934,0.69230816],[-0.1700588,0.31310553,0.69230816],[-0.18072725,0.40796411,0.72210806]],"qposRad":[-1.45880008,-1.68158387,1.40534503,-1.59715322,-1.57713655,-0.0693154],"timeIndex":24,"timeSeconds":1.25},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13676384,-0.01842968,0.163],[-0.00077301,-0.04667908,0.58548605],[-0.05109821,0.32677656,0.69347797],[-0.17696059,0.30981591,0.69347797],[-0.18968918,0.40427284,0.72374134]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13676384,-0.01842968,0.163],[-0.00077301,-0.04667908,0.58548605],[-0.05109821,0.32677656,0.69347797],[-0.17696059,0.30981591,0.69347797],[-0.18968918,0.40427284,0.72374134]],"qposRad":[-1.43684772,-1.67961736,1.4005184,-1.59915209,-1.57757225,-0.07409569],"timeIndex":25,"timeSeconds":1.3},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13629437,-0.02162974,0.163],[0.00011083,-0.04535912,0.5856305],[-0.05893958,0.32673227,0.69391274],[-0.1843699,0.30682665,0.69391274],[-0.19929555,0.40087683,0.72443794]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13629437,-0.02162974,0.163],[0.00011083,-0.04535912,0.5856305],[-0.05893958,0.32673227,0.69391274],[-0.1843699,0.30682665,0.69391274],[-0.19929555,0.40087683,0.72443794]],"qposRad":[-1.41341016,-1.67644184,1.39657235,-1.60112987,-1.57800413,-0.07883784],"timeIndex":26,"timeSeconds":1.35},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13572213,-0.02497007,0.163],[0.00090448,-0.04360251,0.58581438],[-0.06728509,0.32703458,0.69371402],[-0.19218879,0.30405488,0.69371402],[-0.20941426,0.39768213,0.72432808]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13572213,-0.02497007,0.163],[0.00090448,-0.04360251,0.58581438],[-0.06728509,0.32703458,0.69371402],[-0.19218879,0.30405488,0.69371402],[-0.20941426,0.39768213,0.72432808]],"qposRad":[-1.38885163,-1.67225607,1.393402,-1.6030786,-1.57843013,-0.08351712],"timeIndex":27,"timeSeconds":1.4},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13504443,-0.02840776,0.163],[0.00157122,-0.04147403,0.58602652],[-0.07606353,0.32758497,0.69294847],[-0.20034355,0.30144159,0.69294847],[-0.2199448,0.39462176,0.72349756]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13504443,-0.02840776,0.163],[0.00157122,-0.04147403,0.58602652],[-0.07606353,0.32758497,0.69294847],[-0.20034355,0.30144159,0.69294847],[-0.2199448,0.39462176,0.72349756]],"qposRad":[-1.36346067,-1.66720257,1.39094184,-1.6049895,-1.5788481,-0.0881088],"timeIndex":28,"timeSeconds":1.45},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13426048,-0.03190806,0.163],[0.00207896,-0.03902219,0.58625754],[-0.08522075,0.32831137,0.69165592],[-0.20877931,0.2989467,0.69165592],[-0.23081106,0.39165034,0.72199793]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13426048,-0.03190806,0.163],[0.00207896,-0.03902219,0.58625754],[-0.08522075,0.32831137,0.69165592],[-0.20877931,0.2989467,0.69165592],[-0.23081106,0.39165034,0.72199793]],"qposRad":[-1.33746708,-1.66138006,1.38915689,-1.60685314,-1.57925585,-0.09258808],"timeIndex":29,"timeSeconds":1.5},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13337099,-0.03544261,0.163],[0.00239907,-0.03628305,0.58649945],[-0.09471601,0.3291622,0.68985529],[-0.21745598,0.29654472,0.68985529],[-0.24195615,0.38873913,0.71985417]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13337099,-0.03544261,0.163],[0.00239907,-0.03628305,0.58649945],[-0.09471601,0.3291622,0.68985529],[-0.21745598,0.29654472,0.68985529],[-0.24195615,0.38873913,0.71985417]],"qposRad":[-1.31105503,-1.65485327,1.3880358,-1.60865975,-1.57965115,-0.09693013],"timeIndex":30,"timeSeconds":1.55},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13237796,-0.03898815,0.163],[0.00250533,-0.03328321,0.58674515],[-0.10451922,0.33010131,0.6875491],[-0.22634531,0.2942209,0.6875491],[-0.25333844,0.38587169,0.71707034]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13237796,-0.03898815,0.163],[0.00250533,-0.03328321,0.58674515],[-0.10451922,0.33010131,0.6875491],[-0.22634531,0.2942209,0.6875491],[-0.25333844,0.38587169,0.71707034]],"qposRad":[-1.28437323,-1.64766043,1.38758553,-1.61039921,-1.58003176,-0.10111012],"timeIndex":31,"timeSeconds":1.6},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13128437,-0.04252544,0.163],[0.00237313,-0.03004214,0.58698802],[-0.11460873,0.33110378,0.68472678],[-0.23542841,0.29196805,0.68472678],[-0.26492836,0.38304016,0.71363395]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13128437,-0.04252544,0.163],[0.00237313,-0.03004214,0.58698802],[-0.11460873,0.33110378,0.68472678],[-0.23542841,0.29196805,0.68472678],[-0.26492836,0.38304016,0.71363395]],"qposRad":[-1.25754287,-1.63981927,1.38782722,-1.61206128,-1.5803954,-0.10510317],"timeIndex":32,"timeSeconds":1.65},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13009404,-0.04603847,0.163],[0.00197877,-0.02657401,0.58722153],[-0.12496955,0.3321525,0.68136724],[-0.24469378,0.28978376,0.68136724],[-0.27670571,0.38024205,0.70951923]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13009404,-0.04603847,0.163],[0.00197877,-0.02657401,0.58722153],[-0.12496955,0.3321525,0.68136724],[-0.24469378,0.28978376,0.68136724],[-0.27670571,0.38024205,0.70951923]],"qposRad":[-1.23066371,-1.63133149,1.38879297,-1.61363558,-1.58073981,-0.10888442],"timeIndex":33,"timeSeconds":1.7},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.12881142,-0.04951382,0.163],[0.00129903,-0.02288916,0.58743892],[-0.13559163,0.33323529,0.67744074],[-0.25413548,0.28766823,0.67744074],[-0.28865734,0.3774777,0.70468959]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.12881142,-0.04951382,0.163],[0.00129903,-0.02288916,0.58743892],[-0.13559163,0.33323529,0.67744074],[-0.25413548,0.28766823,0.67744074],[-0.28865734,0.3774777,0.70468959]],"qposRad":[-1.20381889,-1.62218645,1.39052338,-1.61511164,-1.58106272,-0.11242898],"timeIndex":34,"timeSeconds":1.75},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.12744151,-0.05294016,0.163],[0.00031081,-0.01899522,0.58763288],[-0.14646837,0.3343426,0.67291042],[-0.2637515,0.2856223,0.67291042],[-0.30077499,0.37474802,0.69909951]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.12744151,-0.05294016,0.163],[0.00031081,-0.01899522,0.58763288],[-0.14646837,0.3343426,0.67291042],[-0.2637515,0.2856223,0.67291042],[-0.30077499,0.37474802,0.69909951]],"qposRad":[-1.17707859,-1.61236387,1.39306561,-1.61647901,-1.58136183,-0.11571195],"timeIndex":35,"timeSeconds":1.8},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.12598976,-0.05630791,0.163],[-0.001009,-0.01489803,0.58779528],[-0.1575951,0.33546564,0.66773334],[-0.2735422,0.28364604,0.66773334],[-0.3130533,0.3720527,0.69269604]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.12598976,-0.05630791,0.163],[-0.001009,-0.01489803,0.58779528],[-0.1575951,0.33546564,0.66773334],[-0.2735422,0.28364604,0.66773334],[-0.3130533,0.3720527,0.69269604]],"qposRad":[-1.15050294,-1.601836,1.39647189,-1.61772719,-1.58163486,-0.11870844],"timeIndex":36,"timeSeconds":1.85},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.12446196,-0.05960889,0.163],[-0.00268363,-0.01060227,0.58791692],[-0.16896765,0.33659484,0.66186145],[-0.28350873,0.28173738,0.66186145],[-0.3254878,0.3693887,0.68541994]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.12446196,-0.05960889,0.163],[-0.00268363,-0.01060227,0.58791692],[-0.16896765,0.33659484,0.66186145],[-0.28350873,0.28173738,0.66186145],[-0.3254878,0.3693887,0.68541994]],"qposRad":[-1.12414424,-1.59056934,1.40079834,-1.61884571,-1.58187954,-0.12139353],"timeIndex":37,"timeSeconds":1.9},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.12355215,-0.06147248,0.163],[-0.00366925,-0.0083396,0.58795998],[-0.17537171,0.33676128,0.65928774],[-0.2890755,0.28018878,0.65928774],[-0.33239501,0.36725569,0.68258523]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.12355215,-0.06147248,0.163],[-0.00366925,-0.0083396,0.58795998],[-0.17537171,0.33676128,0.65928774],[-0.2890755,0.28018878,0.65928774],[-0.33239501,0.36725569,0.68258523]],"qposRad":[-1.10911642,-1.58451913,1.40154124,-1.62295414,-1.58953918,-0.12442379],"timeIndex":38,"timeSeconds":1.95},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.1234719,-0.06163351,0.163],[-0.00374111,-0.00817864,0.58796249],[-0.17582225,0.33655568,0.66014511],[-0.28945219,0.27983499,0.66014511],[-0.33278973,0.36665415,0.68431722]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.1234719,-0.06163351,0.163],[-0.00374111,-0.00817864,0.58796249],[-0.17582225,0.33655568,0.66014511],[-0.28945219,0.27983499,0.66014511],[-0.33278973,0.36665415,0.68431722]],"qposRad":[-1.10781269,-1.58408324,1.39888708,-1.62973937,-1.59964892,-0.12756409],"timeIndex":39,"timeSeconds":2.0},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.12334139,-0.06189428,0.163],[-0.00396984,-0.00769626,0.58796942],[-0.17676848,0.33665257,0.66027785],[-0.29027831,0.27969189,0.66027785],[-0.33372122,0.36626384,0.6851377]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.12334139,-0.06189428,0.163],[-0.00396984,-0.00769626,0.58796942],[-0.17676848,0.33665257,0.66027785],[-0.29027831,0.27969189,0.66027785],[-0.33372122,0.36626384,0.6851377]],"qposRad":[-1.10569955,-1.58279247,1.39726977,-1.63650669,-1.60721359,-0.13022103],"timeIndex":40,"timeSeconds":2.05}],"mediaSelection":{"review_reason":"collision","review_unsafe":true,"root":10000,"scenario":"late_suffix","segment":2},"obstacles":[{"centerWorldM":[-0.41124162,0.35322607,0.54942903],"fixedForCase":true,"name":"guard_obstacle_a","radiusM":0.055,"type":"sphere"},{"centerWorldM":[2.2,2.0,2.0],"fixedForCase":true,"name":"guard_obstacle_b","radiusM":0.055,"type":"sphere"}],"rootId":10000,"savedOutcome":{"collisionMarkers":{"note":"The saved review records aggregate collision flags only; this export does not recompute or invent per-frame collision labels.","perSavedFrameAvailable":false,"recordedReplayObstacleCollisionAnyFrame":true,"recordedReplaySelfCollisionAnyFrame":false},"discreteTruth":{"obstacle":true,"ok":false,"reason":"collision","samples":76,"self_collision":false},"gateDecisionsAllow":{"conservative":false,"full":false,"incremental":false,"parent_only":true},"highResolutionReplay":{"obstacle":true,"ok":false,"self_collision":false,"tracking_rmse_rad":0.03164257942719159,"wall_ms":318.83123237639666},"highResolutionStatic":{"obstacle":true,"ok":false,"reason":"collision","samples":135,"self_collision":false},"reviewReason":"collision","reviewUnsafe":true},"scenario":"late_suffix"},{"frames":[{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.138,-3.23e-06,0.163],[-0.00700002,0.00066914,0.58799947],[-0.00700919,0.39266707,0.58672732],[-0.13400919,0.3926641,0.58672732],[-0.13401153,0.49266338,0.5863467]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.138,-3.23e-06,0.163],[-0.00700002,0.00066914,0.58799947],[-0.00700919,0.39266707,0.58672732],[-0.13400919,0.3926641,0.58672732],[-0.13401153,0.49266338,0.5863467]],"qposRad":[-1.57077292,-1.5692215,1.57246679,-1.57023542,-1.57079997,-0.0],"timeIndex":0,"timeSeconds":0.05},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.138,-1.47e-05,0.163],[-0.00700014,0.00127039,0.5879981],[-0.00704189,0.39326342,0.58566057],[-0.13404189,0.39324989,0.58566057],[-0.13405254,0.49324751,0.58497016]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.138,-1.47e-05,0.163],[-0.00700014,0.00127039,0.5879981],[-0.00704189,0.39326342,0.58566057],[-0.13404189,0.39324989,0.58566057],[-0.13405254,0.49324751,0.58497016]],"qposRad":[-1.5706898,-1.56780541,1.57376852,-1.56985532,-1.57078404,-0.00012972],"timeIndex":1,"timeSeconds":0.1},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13799999,-6.339e-05,0.163],[-0.00700077,0.00167018,0.58799671],[-0.00718084,0.39365884,0.58502098],[-0.13418083,0.3936005,0.58502098],[-0.13422676,0.4935969,0.58417379]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13799999,-6.339e-05,0.163],[-0.00700077,0.00167018,0.58799671],[-0.00718084,0.39365884,0.58502098],[-0.13418083,0.3936005,0.58502098],[-0.13422676,0.4935969,0.58417379]],"qposRad":[-1.57033694,-1.56685892,1.57445013,-1.56991555,-1.57072446,-0.00061329],"timeIndex":2,"timeSeconds":0.15},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.1379999,-0.00016665,0.163],[-0.00700226,0.00186607,0.58799587],[-0.00747564,0.39385308,0.58483901],[-0.13447555,0.39369971,0.58483901],[-0.13459631,0.49369618,0.58400849]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.1379999,-0.00016665,0.163],[-0.00700226,0.00186607,0.58799587],[-0.00747564,0.39385308,0.58483901],[-0.13447555,0.39369971,0.58483901],[-0.13459631,0.49369618,0.58400849]],"qposRad":[-1.56958868,-1.56638566,1.57443895,-1.57054436,-1.57060096,-0.00161395],"timeIndex":3,"timeSeconds":0.2},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13799959,-0.0003365,0.163],[-0.00700455,0.00185905,0.58799586],[-0.00796039,0.39384742,0.58513094],[-0.13496002,0.39353774,0.58513094],[-0.13520385,0.49353547,0.58450333]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13799959,-0.0003365,0.163],[-0.00700455,0.00185905,0.58799586],[-0.00796039,0.39384742,0.58513094],[-0.13496002,0.39353774,0.58513094],[-0.13520385,0.49353547,0.58450333]],"qposRad":[-1.56835789,-1.56638189,1.57369044,-1.57182873,-1.57039942,-0.00324515],"timeIndex":4,"timeSeconds":0.25},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13799878,-0.00058084,0.163],[-0.00700702,0.0016526,0.58799667],[-0.00865693,0.39364353,0.58590211],[-0.1356558,0.39310898,0.58590211],[-0.1360767,0.49310783,0.58567051]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13799878,-0.00058084,0.163],[-0.00700702,0.0016526,0.58799667],[-0.00865693,0.39364353,0.58590211],[-0.1356558,0.39310898,0.58590211],[-0.1360767,0.49310783,0.58567051]],"qposRad":[-1.5665873,-1.5668385,1.57218179,-1.57382361,-1.57011056,-0.00558165],"timeIndex":5,"timeSeconds":0.3},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13799704,-0.00090438,0.163],[-0.00700836,0.00125209,0.58799802],[-0.00957731,0.39324275,0.58714942],[-0.13657459,0.39241046,0.58714942],[-0.13722993,0.49240767,0.58750922]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13799704,-0.00090438,0.163],[-0.00700836,0.00125209,0.58799802],[-0.00957731,0.39324275,0.58714942],[-0.13657459,0.39241046,0.58714942],[-0.13722993,0.49240767,0.58750922]],"qposRad":[-1.5642428,-1.56774222,1.56990701,-1.5765591,-1.56972885,-0.00866812],"timeIndex":6,"timeSeconds":0.35},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13799379,-0.00130934,0.163],[-0.00700662,0.00066438,0.58799937],[-0.01072589,0.39264578,0.58886316],[-0.13772017,0.39144081,0.58886316],[-0.1386689,0.49142976,0.59000846]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13799379,-0.00130934,0.163],[-0.00700662,0.00066438,0.58799937],[-0.01072589,0.39264578,0.58886316],[-0.13772017,0.39144081,0.58886316],[-0.1386689,0.49142976,0.59000846]],"qposRad":[-1.56130823,-1.56907673,1.56687318,-1.58004601,-1.56925163,-0.01252587],"timeIndex":7,"timeSeconds":0.4},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13798831,-0.00179601,0.163],[-0.00699926,-0.00010258,0.588],[-0.01210081,0.39185253,0.5910285],[-0.13909006,0.39019968,0.5910285],[-0.14039122,0.49016872,0.59314931]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13798831,-0.00179601,0.163],[-0.00699926,-0.00010258,0.588],[-0.01210081,0.39185253,0.5910285],[-0.13909006,0.39019968,0.5910285],[-0.14039122,0.49016872,0.59314931]],"qposRad":[-1.5577814,-1.57082333,1.56309749,-1.5842802,-1.56867853,-0.01715802],"timeIndex":8,"timeSeconds":0.45},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13797976,-0.0023632,0.163],[-0.00698322,-0.00103996,0.587999],[-0.01369537,0.39086217,0.59362659],[-0.14067675,0.38868734,0.59362659],[-0.14238828,0.48861888,0.59690662]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13797976,-0.0023632,0.163],[-0.00698322,-0.00103996,0.587999],[-0.01369537,0.39086217,0.59362659],[-0.14067675,0.38868734,0.59362659],[-0.14238828,0.48861888,0.59690662]],"qposRad":[-1.55367088,-1.57296155,1.55860496,-1.58924591,-1.5680109,-0.02255355],"timeIndex":9,"timeSeconds":0.5},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.1379672,-0.00300853,0.163],[-0.00695504,-0.00213827,0.58799536],[-0.01549892,0.38967336,0.59663548],[-0.14246874,0.38690464,0.59663548],[-0.14464651,0.48677436,0.60125033]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.1379672,-0.00300853,0.163],[-0.00695504,-0.00213827,0.58799536],[-0.01549892,0.38967336,0.59663548],[-0.14246874,0.38690464,0.59663548],[-0.14464651,0.48677436,0.60125033]],"qposRad":[-1.54899368,-1.5754696,1.5534267,-1.59491835,-1.56725148,-0.02869047],"timeIndex":10,"timeSeconds":0.55},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13794962,-0.00372873,0.163],[-0.00691099,-0.00338747,0.58798796],[-0.01749774,0.38828445,0.60003071],[-0.14445138,0.38485294,0.60003071],[-0.14714829,0.48462931,0.60614645]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13794962,-0.00372873,0.163],[-0.00691099,-0.00338747,0.58798796],[-0.01749774,0.38828445,0.60003071],[-0.14445138,0.38485294,0.60003071],[-0.14714829,0.48462931,0.60614645]],"qposRad":[-1.54377327,-1.57832464,1.5475985,-1.60126576,-1.56640404,-0.03553827],"timeIndex":11,"timeSeconds":0.6},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13792596,-0.00451981,0.163],[-0.00684721,-0.00477711,0.58797564],[-0.01967566,0.38669379,0.60378591],[-0.14660752,0.38253425,0.60378591],[-0.14987284,0.48217829,0.61155786]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13792596,-0.00451981,0.163],[-0.00684721,-0.00477711,0.58797564],[-0.01967566,0.38669379,0.60378591],[-0.14660752,0.38253425,0.60378591],[-0.14987284,0.48217829,0.61155786]],"qposRad":[-1.53803819,-1.58150309,1.54115982,-1.60825096,-1.5654732,-0.04305978],"timeIndex":12,"timeSeconds":0.65},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.1378952,-0.00537725,0.163],[-0.00675979,-0.00629636,0.58795725],[-0.02201457,0.38490007,0.60787317],[-0.14891812,0.37995144,0.60787317],[-0.15279679,0.4794167,0.61744489]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.1378952,-0.00537725,0.163],[-0.00675979,-0.00629636,0.58795725],[-0.02201457,0.38490007,0.60787317],[-0.14891812,0.37995144,0.60787317],[-0.15279679,0.4794167,0.61744489]],"qposRad":[-1.53182088,-1.58498076,1.53415296,-1.61583253,-1.56446419,-0.05121268],"timeIndex":13,"timeSeconds":0.7},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.1378563,-0.00629606,0.163],[-0.00664494,-0.00793412,0.58793164],[-0.02449492,0.3829026,0.61226337],[-0.15136268,0.3771084,0.61226337],[-0.15589476,0.47634122,0.62376586]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.1378563,-0.00629606,0.163],[-0.00664494,-0.00793412,0.58793164],[-0.02449492,0.3829026,0.61226337],[-0.15136268,0.3771084,0.61226337],[-0.15589476,0.47634122,0.62376586]],"qposRad":[-1.52515683,-1.58873304,1.52662237,-1.6239658,-1.56338276,-0.05995065],"timeIndex":14,"timeSeconds":0.75},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13780832,-0.00727095,0.163],[-0.00649906,-0.00967904,0.58789773],[-0.02709606,0.38070167,0.61692644],[-0.15391966,0.37401029,0.61692644],[-0.15913986,0.47295028,0.63047741]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13780832,-0.00727095,0.163],[-0.00649906,-0.00967904,0.58789773],[-0.02709606,0.38070167,0.61692644],[-0.15391966,0.37401029,0.61692644],[-0.15913986,0.47295028,0.63047741]],"qposRad":[-1.51808388,-1.59273496,1.51861426,-1.63260355,-1.56223503,-0.06922423],"timeIndex":15,"timeSeconds":0.8},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13775039,-0.00829633,0.163],[-0.00631889,-0.01151955,0.58785453],[-0.0297966,0.37829881,0.62183162],[-0.15656689,0.37066378,0.62183162],[-0.16250414,0.46924449,0.63753489]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13775039,-0.00829633,0.163],[-0.00631889,-0.01151955,0.58785453],[-0.0297966,0.37829881,0.62183162],[-0.15656689,0.37066378,0.62183162],[-0.16250414,0.46924449,0.63753489]],"qposRad":[-1.5106417,-1.59696128,1.51017613,-1.64169659,-1.56102741,-0.07898157],"timeIndex":16,"timeSeconds":0.85},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13768177,-0.00936644,0.163],[-0.00610159,-0.01344396,0.58780117],[-0.03257471,0.37569706,0.62694758],[-0.15928184,0.36707722,0.62694758],[-0.16595894,0.46522707,0.64489263]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13768177,-0.00936644,0.163],[-0.00610159,-0.01344396,0.58780117],[-0.03257471,0.37569706,0.62694758],[-0.15928184,0.36707722,0.62694758],[-0.16595894,0.46522707,0.64489263]],"qposRad":[-1.50287137,-1.60138656,1.50135653,-1.65119419,-1.55976657,-0.08916891],"timeIndex":17,"timeSeconds":0.9},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13760184,-0.01047533,0.163],[-0.00584481,-0.01544041,0.5877369],[-0.03540841,0.37290124,0.63224264],[-0.16204199,0.3632609,0.63224264],[-0.16947536,0.4609042,0.65250423]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13760184,-0.01047533,0.163],[-0.00584481,-0.01544041,0.5877369],[-0.03540841,0.37290124,0.63224264],[-0.16204199,0.3632609,0.63224264],[-0.16947536,0.4609042,0.65250423]],"qposRad":[-1.49481507,-1.60598521,1.4922048,-1.66104442,-1.55845934,-0.09973103],"timeIndex":18,"timeSeconds":0.95},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13751017,-0.01161694,0.163],[-0.00554678,-0.01749696,0.58766115],[-0.03827583,0.3699181,0.6376849],[-0.16482505,0.35922715,0.6376849],[-0.17302458,0.45628534,0.66032281]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13751017,-0.01161694,0.163],[-0.00554678,-0.01749696,0.58766115],[-0.03827583,0.3699181,0.6376849],[-0.16482505,0.35922715,0.6376849],[-0.17302458,0.45628534,0.66032281]],"qposRad":[-1.48651586,-1.61073147,1.48277093,-1.67119441,-1.5571127,-0.1106116],"timeIndex":19,"timeSeconds":1.0},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13740648,-0.01278513,0.163],[-0.00520638,-0.01960163,0.58757352],[-0.04115547,0.36675655,0.64324236],[-0.16760926,0.35499053,0.64324236],[-0.17657825,0.45138353,0.66830124]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13740648,-0.01278513,0.163],[-0.00520638,-0.01960163,0.58757352],[-0.04115547,0.36675655,0.64324236],[-0.16760926,0.35499053,0.64324236],[-0.17657825,0.45138353,0.66830124]],"qposRad":[-1.47801744,-1.61559949,1.4731054,-1.68159057,-1.55573372,-0.12175336],"timeIndex":20,"timeSeconds":1.05},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13745646,-0.01223603,0.163],[-0.00535948,-0.0187401,0.58761051],[-0.03969128,0.36693479,0.64876774],[-0.16619107,0.3556741,0.64876774],[-0.17471716,0.45145403,0.67621791]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13745646,-0.01223603,0.163],[-0.00535948,-0.0187401,0.58761051],[-0.03969128,0.36693479,0.64876774],[-0.16619107,0.3556741,0.64876774],[-0.17471716,0.45145403,0.67621791]],"qposRad":[-1.48201288,-1.61361194,1.45695866,-1.69221448,-1.55431522,-0.13309864],"timeIndex":21,"timeSeconds":1.1},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13761511,-0.01029953,0.163],[-0.00587793,-0.01525396,0.58774318],[-0.03471498,0.3700467,0.65389316],[-0.16136078,0.36056815,0.65389316],[-0.16848705,0.45578436,0.68360998]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13761511,-0.01029953,0.163],[-0.00587793,-0.01525396,0.58774318],[-0.03471498,0.3700467,0.65389316],[-0.16136078,0.36056815,0.65389316],[-0.16848705,0.45578436,0.68360998]],"qposRad":[-1.4960926,-1.60556269,1.43600138,-1.7029605,-1.55288555,-0.14458862],"timeIndex":22,"timeSeconds":1.15},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13780313,-0.00736864,0.163],[-0.00648268,-0.00986166,0.58789378],[-0.02706997,0.37514736,0.65866256],[-0.1538888,0.36836607,0.65866256],[-0.1589497,0.46301162,0.69054685]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13780313,-0.00736864,0.163],[-0.00648268,-0.00986166,0.58789378],[-0.02706997,0.37514736,0.65866256],[-0.1538888,0.36836607,0.65866256],[-0.1589497,0.46301162,0.69054685]],"qposRad":[-1.51737496,-1.59315452,1.41162659,-1.71377679,-1.55144988,-0.15616445],"timeIndex":23,"timeSeconds":1.2},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13794797,-0.00378909,0.163],[-0.00691463,-0.00320424,0.58798932],[-0.0174784,0.3813866,0.66310452],[-0.14443052,0.37789954,0.66310452],[-0.14701293,0.47191648,0.69707724]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13794797,-0.00378909,0.163],[-0.00691463,-0.00320424,0.58798932],[-0.0174784,0.3813866,0.66310452],[-0.14443052,0.37789954,0.66310452],[-0.14701293,0.47191648,0.69707724]],"qposRad":[-1.54333567,-1.57788621,1.38507332,-1.72461034,-1.55001417,-0.16776698],"timeIndex":24,"timeSeconds":1.25},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13799994,0.00013138,0.163],[-0.00699607,0.0041346,0.58797995],[-0.00663059,0.38803498,0.66725395],[-0.13363053,0.38815589,0.66725395],[-0.13354171,0.4814519,0.70325182]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13799994,0.00013138,0.163],[-0.00699607,0.0041346,0.58797995],[-0.00663059,0.38803498,0.66725395],[-0.13363053,0.38815589,0.66725395],[-0.13354171,0.4814519,0.70325182]],"qposRad":[-1.57174834,-1.56108337,1.35744936,-1.73540738,-1.54858488,-0.17933678],"timeIndex":25,"timeSeconds":1.3},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13793853,0.00411863,0.163],[-0.00665601,0.01162508,0.58784651],[0.00477598,0.39449815,0.6711623],[-0.12216745,0.39828849,0.6711623],[-0.11940647,0.49075751,0.70913408]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13793853,0.00411863,0.163],[-0.00665601,0.01162508,0.58784651],[0.00477598,0.39449815,0.6711623],[-0.12216745,0.39828849,0.6711623],[-0.11940647,0.49075751,0.70913408]],"qposRad":[-1.60064589,-1.54391955,1.32974564,-1.74611368,-1.54716876,-0.19081421],"timeIndex":26,"timeSeconds":1.35},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13777192,0.00793075,0.163],[-0.00592954,0.01879727,0.5876004],[0.01603265,0.4003213,0.67489916],[-0.11075746,0.40761989,0.67489916],[-0.1054879,0.49916198,0.71480251]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13777192,0.00793075,0.163],[-0.00592954,0.01879727,0.5876004],[0.01603265,0.4003213,0.67489916],[-0.11075746,0.40761989,0.67489916],[-0.1054879,0.49916198,0.71480251]],"qposRad":[-1.62829722,-1.52742877,1.30284469,-1.75667478,-1.54577275,-0.20213949],"timeIndex":27,"timeSeconds":1.4},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13753179,0.01135812,0.163],[-0.00493864,0.02524892,0.58727833],[0.02643831,0.40518227,0.67854789],[-0.10013081,0.41563503,0.67854789],[-0.09265376,0.50617217,0.72034646]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13753179,0.01135812,0.163],[-0.00493864,0.02524892,0.58727833],[0.02643831,0.40518227,0.67854789],[-0.10013081,0.41563503,0.67854789],[-0.09265376,0.50617217,0.72034646]],"qposRad":[-1.65319473,-1.5125121,1.27752493,-1.76703612,-1.54440382,-0.21325273],"timeIndex":28,"timeSeconds":1.45},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13726503,0.01422359,0.163],[-0.00386149,0.03064995,0.58693357],[0.03533052,0.40887316,0.68219738],[-0.0909931,0.42196298,0.68219738],[-0.08172043,0.51144904,0.72585815]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13726503,0.01422359,0.163],[-0.00386149,0.03064995,0.58693357],[0.03533052,0.40887316,0.68219738],[-0.0909931,0.42196298,0.68219738],[-0.08172043,0.51144904,0.72585815]],"qposRad":[-1.6740492,-1.49994008,1.25446218,-1.77714297,-1.54306902,-0.22409392],"timeIndex":29,"timeSeconds":1.5},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13702416,0.01638231,0.163],[-0.00289628,0.03474111,0.58662562],[0.04212096,0.41127226,0.68593192],[-0.08398098,0.42634873,0.68593192],[-0.07340918,0.51477291,0.7314226]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13702416,0.01638231,0.163],[-0.00289628,0.03474111,0.58662562],[0.04212096,0.41127226,0.68593192],[-0.08398098,0.42634873,0.68593192],[-0.07340918,0.51477291,0.7314226]],"qposRad":[-1.68978933,-1.49035284,1.23422938,-1.7869405,-1.54177539,-0.23460299],"timeIndex":30,"timeSeconds":1.55},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13685749,0.01772083,0.163],[-0.00222517,0.0373272,0.58640965],[0.04632914,0.41231071,0.6898207],[-0.07961942,0.42861902,0.6898207],[-0.06830462,0.51600294,0.73710732]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13685749,0.01772083,0.163],[-0.00222517,0.0373272,0.58640965],[0.04632914,0.41231071,0.6898207],[-0.07961942,0.42861902,0.6898207],[-0.06830462,0.51600294,0.73710732]],"qposRad":[-1.69956371,-1.48425911,1.21729563,-1.79637369,-1.54053,-0.24471982],"timeIndex":31,"timeSeconds":1.6},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13680045,0.01815592,0.163],[-0.00198259,0.03826745,0.58632691],[0.04761052,0.41193942,0.6939084],[-0.07828555,0.42864814,0.6939084],[-0.06682006,0.5150378,0.74295296]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13680045,0.01815592,0.163],[-0.00198259,0.03826745,0.58632691],[0.04761052,0.41193942,0.6939084],[-0.07828555,0.42864814,0.6939084],[-0.06682006,0.5150378,0.74295296]],"qposRad":[-1.70274352,-1.48203518,1.2040252,-1.80538734,-1.53933991,-0.25438423],"timeIndex":32,"timeSeconds":1.65},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13686879,0.01763332,0.163],[-0.00223094,0.03746623,0.58639734],[0.04577715,0.41010225,0.69820798],[-0.08018181,0.42633002,0.69820798],[-0.06917245,0.51178403,0.74896629]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13686879,0.01763332,0.163],[-0.00223094,0.03746623,0.58639734],[0.04577715,0.41010225,0.69820798],[-0.08018181,0.42633002,0.69820798],[-0.06917245,0.51178403,0.74896629]],"qposRad":[-1.69892428,-1.48392463,1.19467696,-1.813926,-1.53821226,-0.26353602],"timeIndex":33,"timeSeconds":1.7},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13705445,0.01612693,0.163],[-0.0029455,0.03486755,0.58661489],[0.04080972,0.40672044,0.70269638],[-0.0853201,0.42156189,0.70269638],[-0.07536818,0.50613809,0.7551161]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13705445,0.01612693,0.163],[-0.0029455,0.03486755,0.58661489],[0.04080972,0.40672044,0.70269638],[-0.0853201,0.42156189,0.70269638],[-0.07536818,0.50613809,0.7551161]],"qposRad":[-1.6879258,-1.49003933,1.1894049,-1.82193404,-1.5371542,-0.27211496],"timeIndex":34,"timeSeconds":1.75},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13732438,0.01363869,0.163],[-0.00400971,0.03045521,0.58694623],[0.03286048,0.40169134,0.70731369],[-0.09351776,0.41424289,0.70731369],[-0.08520069,0.49798527,0.76133257]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13732438,0.01363869,0.163],[-0.00400971,0.03045521,0.58694623],[0.03286048,0.40169134,0.70731369],[-0.09351776,0.41424289,0.70731369],[-0.08520069,0.49798527,0.76133257]],"qposRad":[-1.66978904,-1.50036205,1.18825995,-1.82935563,-1.536173,-0.2800608],"timeIndex":35,"timeSeconds":1.8},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.1376226,0.010199,0.163],[-0.00522139,0.02425906,0.58733269],[0.02224638,0.3949019,0.71196578],[-0.10440631,0.40428794,0.71196578],[-0.09826064,0.48721596,0.76751012]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.1376226,0.010199,0.163],[-0.00522139,0.02425906,0.58733269],[0.02224638,0.3949019,0.71196578],[-0.10440631,0.40428794,0.71196578],[-0.09826064,0.48721596,0.76751012]],"qposRad":[-1.64476956,-1.51475092,1.19119333,-1.83613478,-1.53527599,-0.28731326],"timeIndex":36,"timeSeconds":1.85},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13787521,0.00586746,0.163],[-0.00630987,0.01636571,0.5876956],[0.00943124,0.38625468,0.71653024],[-0.11745392,0.39165444,0.71653024],[-0.11395997,0.47375615,0.77351359]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13787521,0.00586746,0.163],[-0.00630987,0.01636571,0.5876956],[0.00943124,0.38625468,0.71653024],[-0.11745392,0.39165444,0.71653024],[-0.11395997,0.47375615,0.77351359]],"qposRad":[-1.61332698,-1.53294582,1.19806163,-1.84221538,-1.53447061,-0.29381207],"timeIndex":37,"timeSeconds":1.9},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13799805,0.00073332,0.163],[-0.00696327,0.00693015,0.5879441],[-0.00500362,0.37570134,0.72086502],[-0.13200183,0.3763762,0.72086502],[-0.13157017,0.45760643,0.7791871]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13799805,0.00073332,0.163],[-0.00696327,0.00693015,0.5879441],[-0.00500362,0.37570134,0.72086502],[-0.13200183,0.3763762,0.72086502],[-0.13157017,0.45760643,0.7791871]],"qposRad":[-1.57611027,-1.55457667,1.20863363,-1.84754123,-1.53376441,-0.29949693],"timeIndex":38,"timeSeconds":1.95},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13790628,-0.00508513,0.163],[-0.00686405,-0.00381587,0.58798509],[-0.02040018,0.36327705,0.72481916],[-0.14731392,0.35859725,0.72481916],[-0.15027431,0.4388814,0.78436487]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13790628,-0.00508513,0.163],[-0.00686405,-0.00381587,0.58798509],[-0.02040018,0.36327705,0.72481916],[-0.14731392,0.35859725,0.72481916],[-0.15027431,0.4388814,0.78436487]],"qposRad":[-1.53393919,-1.57917371,1.22259892,-1.85205599,-1.53316501,-0.30430755],"timeIndex":39,"timeSeconds":2.0},{"bodyWorldPositionM":[[0.0,0.0,0.0],[0.0,0.0,0.163],[-0.13752477,-0.01144284,0.163],[-0.00572923,-0.01556335,0.58773399],[-0.03607366,0.34912838,0.72824434],[-0.1626363,0.33859765,0.72824434],[-0.16922979,0.41784082,0.78888298]],"jointAnchorWorldPositionM":[[0.0,0.0,0.163],[-0.13752477,-0.01144284,0.163],[-0.00572923,-0.01556335,0.58773399],[-0.03607366,0.34912838,0.72824434],[-0.1626363,0.33859765,0.72824434],[-0.16922979,0.41784082,0.78888298]],"qposRad":[-1.48778186,-1.60617945,1.23957802,-1.85570321,-1.53268014,-0.30818362],"timeIndex":40,"timeSeconds":2.05}],"mediaSelection":{"review_reason":"safe","review_unsafe":false,"root":20000,"scenario":"narrow_passage","segment":7},"obstacles":[{"centerWorldM":[-0.22169179,0.82375396,0.69197047],"fixedForCase":true,"name":"guard_obstacle_a","radiusM":0.055,"type":"sphere"},{"centerWorldM":[0.13991689,0.29570172,0.69197047],"fixedForCase":true,"name":"guard_obstacle_b","radiusM":0.055,"type":"sphere"}],"rootId":20000,"savedOutcome":{"collisionMarkers":{"note":"The saved review records aggregate collision flags only; this export does not recompute or invent per-frame collision labels.","perSavedFrameAvailable":false,"recordedReplayObstacleCollisionAnyFrame":false,"recordedReplaySelfCollisionAnyFrame":false},"discreteTruth":{"obstacle":false,"ok":true,"reason":"ok","samples":113,"self_collision":false},"gateDecisionsAllow":{"conservative":false,"full":true,"incremental":true,"parent_only":true},"highResolutionReplay":{"obstacle":false,"ok":true,"self_collision":false,"tracking_rmse_rad":0.04097099281876047,"wall_ms":304.73554600030184},"highResolutionStatic":{"obstacle":false,"ok":true,"reason":"ok","samples":203,"self_collision":false},"reviewReason":"safe","reviewUnsafe":false},"scenario":"narrow_passage"}],"coordinateFrame":"MuJoCo model world frame","description":"Schematic 3D kinematic replay of saved UR5e high-resolution review qpos. World coordinates were extracted by mj_forward through the exact portable review MJModel; this is not a CAD mesh or a newly simulated trajectory.","kinematicLayout":{"bodyPositionOrder":["base","shoulder_link","upper_arm_link","forearm_link","wrist_1_link","wrist_2_link","wrist_3_link"],"connectivity":[{"body":"base","parent":"world"},{"body":"shoulder_link","parent":"base"},{"body":"upper_arm_link","parent":"shoulder_link"},{"body":"forearm_link","parent":"upper_arm_link"},{"body":"wrist_1_link","parent":"forearm_link"},{"body":"wrist_2_link","parent":"wrist_1_link"},{"body":"wrist_3_link","parent":"wrist_2_link"}],"jointAnchorOrder":["shoulder_pan_joint","shoulder_lift_joint","elbow_joint","wrist_1_joint","wrist_2_joint","wrist_3_joint"]},"labelLimitations":["The selected cases are outcome-conditioned representatives from fixed constructed adversarial roots, not samples from an untouched natural-scene distribution.","Saved review outcomes and gate decisions are copied verbatim and were not recomputed for this export.","The NPZ stores aggregate high-resolution replay collision flags in the accompanying review JSON, not per-frame collision markers.","Body and joint coordinates are forward-kinematic positions from recorded qpos; no new dynamics integration, training, seed selection, or gate evaluation was performed.","The replay is schematic and does not embed or approximate the UR5e CAD meshes."],"numericSerialization":{"qposDecimals":8,"worldPositionDecimals":8},"sampling":{"everyNthSavedFrame":1,"frameDtSeconds":0.05,"savedFramesPerCase":41,"sourceSavedFrameCount":41,"sourceTimeIndexPreserved":true,"timestampDefinition":"Each saved qpos follows 50 simulation steps at dt=0.001 s; timeIndex 0 is therefore t=0.05 s."},"schema":"sentinel-ur5e-schematic-replay-v1","sourceBinding":{"mediaSelectionManifest":{"path":"runs/arm-20261002/media-v4/media_manifest.json","sha256":"fa9830322ca249840e4f466e4326d1e08b93c1d819c4db062654b035cf30e9ce"},"portableMjModel":{"mujocoVersion":"3.14.0","nbody":10,"ngeom":32,"nq":6,"path":"runs/arm-20261002/media-v4/model/portable_ur5e/sentinel_highres_review.xml","sha256":"d332ac7e52368e3c00c7536048efbaab1c0266610edcd39809feedca11eba452"},"recordedQposNpz":{"keys":["root_10000_qpos","root_20000_qpos"],"path":"runs/arm-20261002/full-v3/review/highres_replay_trajectories.npz","sha256":"3593e9683d030348d82ec308f6d4c79cccb7c95c3b6498663eb46015554fe729"},"reviewLabels":{"path":"runs/arm-20261002/full-v3/review/reviewed_per_root.json","rootIds":[10000,20000],"sha256":"1a43836848e474f8c6b90ab70413b63ae5d526852e90b409e1aa7385942c269e"}},"units":{"jointAngle":"radian","position":"meter","time":"second"}}