{"date":"2026-09-15","scope":"V1 explicit stored logical targets; V2 saved single-axis CAD sweeps. No gait calculated or hardware commanded.","v1":{"motion_count":38,"packed_assets_match":38,"joint_order":["R1","R2","L1","L2","R4","R3","L3","L4"],"all_motion_ranges_degrees":[{"id":0,"label":"R1","min":85,"max":180,"span":95},{"id":1,"label":"R2","min":0,"max":100,"span":100},{"id":2,"label":"L1","min":0,"max":95,"span":95},{"id":3,"label":"L2","min":90,"max":180,"span":90},{"id":4,"label":"R4","min":0,"max":180,"span":180},{"id":5,"label":"R3","min":0,"max":180,"span":180},{"id":6,"label":"L3","min":0,"max":180,"span":180},{"id":7,"label":"L4","min":0,"max":180,"span":180}],"motions":[{"name":"rest","frames":1,"duration_ms":160,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":90,"max":90,"span":0,"stand":135,"relative_to_stand":[-45,-45]},{"id":1,"label":"R2","min":90,"max":90,"span":0,"stand":45,"relative_to_stand":[45,45]},{"id":2,"label":"L1","min":90,"max":90,"span":0,"stand":45,"relative_to_stand":[45,45]},{"id":3,"label":"L2","min":90,"max":90,"span":0,"stand":135,"relative_to_stand":[-45,-45]},{"id":4,"label":"R4","min":90,"max":90,"span":0,"stand":0,"relative_to_stand":[90,90]},{"id":5,"label":"R3","min":90,"max":90,"span":0,"stand":180,"relative_to_stand":[-90,-90]},{"id":6,"label":"L3","min":90,"max":90,"span":0,"stand":0,"relative_to_stand":[90,90]},{"id":7,"label":"L4","min":90,"max":90,"span":0,"stand":180,"relative_to_stand":[-90,-90]}]},{"name":"stand","frames":1,"duration_ms":160,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":135,"span":0,"stand":135,"relative_to_stand":[0,0]},{"id":1,"label":"R2","min":45,"max":45,"span":0,"stand":45,"relative_to_stand":[0,0]},{"id":2,"label":"L1","min":45,"max":45,"span":0,"stand":45,"relative_to_stand":[0,0]},{"id":3,"label":"L2","min":135,"max":135,"span":0,"stand":135,"relative_to_stand":[0,0]},{"id":4,"label":"R4","min":0,"max":0,"span":0,"stand":0,"relative_to_stand":[0,0]},{"id":5,"label":"R3","min":180,"max":180,"span":0,"stand":180,"relative_to_stand":[0,0]},{"id":6,"label":"L3","min":0,"max":0,"span":0,"stand":0,"relative_to_stand":[0,0]},{"id":7,"label":"L4","min":180,"max":180,"span":0,"stand":180,"relative_to_stand":[0,0]}]},{"name":"wave","frames":14,"duration_ms":4240,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":100,"max":135,"span":35,"stand":135,"relative_to_stand":[-35,0]},{"id":1,"label":"R2","min":45,"max":45,"span":0,"stand":45,"relative_to_stand":[0,0]},{"id":2,"label":"L1","min":45,"max":45,"span":0,"stand":45,"relative_to_stand":[0,0]},{"id":3,"label":"L2","min":90,"max":135,"span":45,"stand":135,"relative_to_stand":[-45,0]},{"id":4,"label":"R4","min":0,"max":80,"span":80,"stand":0,"relative_to_stand":[0,80]},{"id":5,"label":"R3","min":180,"max":180,"span":0,"stand":180,"relative_to_stand":[0,0]},{"id":6,"label":"L3","min":0,"max":180,"span":180,"stand":0,"relative_to_stand":[0,180]},{"id":7,"label":"L4","min":180,"max":180,"span":0,"stand":180,"relative_to_stand":[0,0]}]},{"name":"dance","frames":12,"duration_ms":4420,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":90,"max":135,"span":45,"stand":135,"relative_to_stand":[-45,0]},{"id":1,"label":"R2","min":45,"max":90,"span":45,"stand":45,"relative_to_stand":[0,45]},{"id":2,"label":"L1","min":45,"max":90,"span":45,"stand":45,"relative_to_stand":[0,45]},{"id":3,"label":"L2","min":90,"max":135,"span":45,"stand":135,"relative_to_stand":[-45,0]},{"id":4,"label":"R4","min":0,"max":160,"span":160,"stand":0,"relative_to_stand":[0,160]},{"id":5,"label":"R3","min":115,"max":180,"span":65,"stand":180,"relative_to_stand":[-65,0]},{"id":6,"label":"L3","min":0,"max":65,"span":65,"stand":0,"relative_to_stand":[0,65]},{"id":7,"label":"L4","min":10,"max":180,"span":170,"stand":180,"relative_to_stand":[-170,0]}]},{"name":"swim","frames":10,"duration_ms":4160,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":90,"max":135,"span":45,"stand":135,"relative_to_stand":[-45,0]},{"id":1,"label":"R2","min":45,"max":90,"span":45,"stand":45,"relative_to_stand":[0,45]},{"id":2,"label":"L1","min":45,"max":90,"span":45,"stand":45,"relative_to_stand":[0,45]},{"id":3,"label":"L2","min":90,"max":135,"span":45,"stand":135,"relative_to_stand":[-45,0]},{"id":4,"label":"R4","min":0,"max":90,"span":90,"stand":0,"relative_to_stand":[0,90]},{"id":5,"label":"R3","min":90,"max":180,"span":90,"stand":180,"relative_to_stand":[-90,0]},{"id":6,"label":"L3","min":0,"max":90,"span":90,"stand":0,"relative_to_stand":[0,90]},{"id":7,"label":"L4","min":90,"max":180,"span":90,"stand":180,"relative_to_stand":[-90,0]}]},{"name":"point","frames":2,"duration_ms":2320,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":135,"span":0,"stand":135,"relative_to_stand":[0,0]},{"id":1,"label":"R2","min":45,"max":100,"span":55,"stand":45,"relative_to_stand":[0,55]},{"id":2,"label":"L1","min":25,"max":45,"span":20,"stand":45,"relative_to_stand":[-20,0]},{"id":3,"label":"L2","min":90,"max":135,"span":45,"stand":135,"relative_to_stand":[-45,0]},{"id":4,"label":"R4","min":0,"max":80,"span":80,"stand":0,"relative_to_stand":[0,80]},{"id":5,"label":"R3","min":170,"max":180,"span":10,"stand":180,"relative_to_stand":[-10,0]},{"id":6,"label":"L3","min":0,"max":145,"span":145,"stand":0,"relative_to_stand":[0,145]},{"id":7,"label":"L4","min":180,"max":180,"span":0,"stand":180,"relative_to_stand":[0,0]}]},{"name":"pushup","frames":11,"duration_ms":5820,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":180,"span":45,"stand":135,"relative_to_stand":[0,45]},{"id":1,"label":"R2","min":45,"max":45,"span":0,"stand":45,"relative_to_stand":[0,0]},{"id":2,"label":"L1","min":0,"max":45,"span":45,"stand":45,"relative_to_stand":[-45,0]},{"id":3,"label":"L2","min":135,"max":135,"span":0,"stand":135,"relative_to_stand":[0,0]},{"id":4,"label":"R4","min":0,"max":0,"span":0,"stand":0,"relative_to_stand":[0,0]},{"id":5,"label":"R3","min":90,"max":180,"span":90,"stand":180,"relative_to_stand":[-90,0]},{"id":6,"label":"L3","min":0,"max":90,"span":90,"stand":0,"relative_to_stand":[0,90]},{"id":7,"label":"L4","min":180,"max":180,"span":0,"stand":180,"relative_to_stand":[0,0]}]},{"name":"bow","frames":4,"duration_ms":4320,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":180,"span":45,"stand":135,"relative_to_stand":[0,45]},{"id":1,"label":"R2","min":0,"max":45,"span":45,"stand":45,"relative_to_stand":[-45,0]},{"id":2,"label":"L1","min":0,"max":45,"span":45,"stand":45,"relative_to_stand":[-45,0]},{"id":3,"label":"L2","min":135,"max":180,"span":45,"stand":135,"relative_to_stand":[0,45]},{"id":4,"label":"R4","min":0,"max":0,"span":0,"stand":0,"relative_to_stand":[0,0]},{"id":5,"label":"R3","min":90,"max":180,"span":90,"stand":180,"relative_to_stand":[-90,0]},{"id":6,"label":"L3","min":0,"max":90,"span":90,"stand":0,"relative_to_stand":[0,90]},{"id":7,"label":"L4","min":180,"max":180,"span":0,"stand":180,"relative_to_stand":[0,0]}]},{"name":"cute","frames":13,"duration_ms":4280,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":180,"span":45,"stand":135,"relative_to_stand":[0,45]},{"id":1,"label":"R2","min":20,"max":45,"span":25,"stand":45,"relative_to_stand":[-25,0]},{"id":2,"label":"L1","min":0,"max":45,"span":45,"stand":45,"relative_to_stand":[-45,0]},{"id":3,"label":"L2","min":135,"max":160,"span":25,"stand":135,"relative_to_stand":[0,25]},{"id":4,"label":"R4","min":0,"max":180,"span":180,"stand":0,"relative_to_stand":[0,180]},{"id":5,"label":"R3","min":0,"max":180,"span":180,"stand":180,"relative_to_stand":[-180,0]},{"id":6,"label":"L3","min":0,"max":180,"span":180,"stand":0,"relative_to_stand":[0,180]},{"id":7,"label":"L4","min":0,"max":180,"span":180,"stand":180,"relative_to_stand":[-180,0]}]},{"name":"freaky","frames":9,"duration_ms":3360,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":180,"span":45,"stand":135,"relative_to_stand":[0,45]},{"id":1,"label":"R2","min":0,"max":45,"span":45,"stand":45,"relative_to_stand":[-45,0]},{"id":2,"label":"L1","min":0,"max":45,"span":45,"stand":45,"relative_to_stand":[-45,0]},{"id":3,"label":"L2","min":135,"max":180,"span":45,"stand":135,"relative_to_stand":[0,45]},{"id":4,"label":"R4","min":0,"max":90,"span":90,"stand":0,"relative_to_stand":[0,90]},{"id":5,"label":"R3","min":0,"max":180,"span":180,"stand":180,"relative_to_stand":[-180,0]},{"id":6,"label":"L3","min":0,"max":0,"span":0,"stand":0,"relative_to_stand":[0,0]},{"id":7,"label":"L4","min":180,"max":180,"span":0,"stand":180,"relative_to_stand":[0,0]}]},{"name":"worm","frames":13,"duration_ms":4680,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":180,"span":45,"stand":135,"relative_to_stand":[0,45]},{"id":1,"label":"R2","min":0,"max":45,"span":45,"stand":45,"relative_to_stand":[-45,0]},{"id":2,"label":"L1","min":0,"max":45,"span":45,"stand":45,"relative_to_stand":[-45,0]},{"id":3,"label":"L2","min":135,"max":180,"span":45,"stand":135,"relative_to_stand":[0,45]},{"id":4,"label":"R4","min":0,"max":135,"span":135,"stand":0,"relative_to_stand":[0,135]},{"id":5,"label":"R3","min":45,"max":180,"span":135,"stand":180,"relative_to_stand":[-135,0]},{"id":6,"label":"L3","min":0,"max":135,"span":135,"stand":0,"relative_to_stand":[0,135]},{"id":7,"label":"L4","min":45,"max":180,"span":135,"stand":180,"relative_to_stand":[-135,0]}]},{"name":"shake","frames":13,"duration_ms":4240,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":135,"span":0,"stand":135,"relative_to_stand":[0,0]},{"id":1,"label":"R2","min":45,"max":90,"span":45,"stand":45,"relative_to_stand":[0,45]},{"id":2,"label":"L1","min":45,"max":45,"span":0,"stand":45,"relative_to_stand":[0,0]},{"id":3,"label":"L2","min":90,"max":135,"span":45,"stand":135,"relative_to_stand":[-45,0]},{"id":4,"label":"R4","min":0,"max":45,"span":45,"stand":0,"relative_to_stand":[0,45]},{"id":5,"label":"R3","min":90,"max":180,"span":90,"stand":180,"relative_to_stand":[-90,0]},{"id":6,"label":"L3","min":0,"max":90,"span":90,"stand":0,"relative_to_stand":[0,90]},{"id":7,"label":"L4","min":135,"max":180,"span":45,"stand":180,"relative_to_stand":[-45,0]}]},{"name":"shrug","frames":4,"duration_ms":3180,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":135,"span":0,"stand":135,"relative_to_stand":[0,0]},{"id":1,"label":"R2","min":45,"max":45,"span":0,"stand":45,"relative_to_stand":[0,0]},{"id":2,"label":"L1","min":45,"max":45,"span":0,"stand":45,"relative_to_stand":[0,0]},{"id":3,"label":"L2","min":135,"max":135,"span":0,"stand":135,"relative_to_stand":[0,0]},{"id":4,"label":"R4","min":0,"max":180,"span":180,"stand":0,"relative_to_stand":[0,180]},{"id":5,"label":"R3","min":0,"max":180,"span":180,"stand":180,"relative_to_stand":[-180,0]},{"id":6,"label":"L3","min":0,"max":180,"span":180,"stand":0,"relative_to_stand":[0,180]},{"id":7,"label":"L4","min":0,"max":180,"span":180,"stand":180,"relative_to_stand":[-180,0]}]},{"name":"dead","frames":2,"duration_ms":440,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":135,"span":0,"stand":135,"relative_to_stand":[0,0]},{"id":1,"label":"R2","min":45,"max":45,"span":0,"stand":45,"relative_to_stand":[0,0]},{"id":2,"label":"L1","min":45,"max":45,"span":0,"stand":45,"relative_to_stand":[0,0]},{"id":3,"label":"L2","min":135,"max":135,"span":0,"stand":135,"relative_to_stand":[0,0]},{"id":4,"label":"R4","min":0,"max":90,"span":90,"stand":0,"relative_to_stand":[0,90]},{"id":5,"label":"R3","min":90,"max":180,"span":90,"stand":180,"relative_to_stand":[-90,0]},{"id":6,"label":"L3","min":0,"max":90,"span":90,"stand":0,"relative_to_stand":[0,90]},{"id":7,"label":"L4","min":90,"max":180,"span":90,"stand":180,"relative_to_stand":[-90,0]}]},{"name":"crab","frames":13,"duration_ms":4480,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":90,"max":135,"span":45,"stand":135,"relative_to_stand":[-45,0]},{"id":1,"label":"R2","min":45,"max":90,"span":45,"stand":45,"relative_to_stand":[0,45]},{"id":2,"label":"L1","min":45,"max":90,"span":45,"stand":45,"relative_to_stand":[0,45]},{"id":3,"label":"L2","min":90,"max":135,"span":45,"stand":135,"relative_to_stand":[-45,0]},{"id":4,"label":"R4","min":0,"max":45,"span":45,"stand":0,"relative_to_stand":[0,45]},{"id":5,"label":"R3","min":135,"max":180,"span":45,"stand":180,"relative_to_stand":[-45,0]},{"id":6,"label":"L3","min":0,"max":45,"span":45,"stand":0,"relative_to_stand":[0,45]},{"id":7,"label":"L4","min":135,"max":180,"span":45,"stand":180,"relative_to_stand":[-45,0]}]},{"name":"walk_forward","frames":32,"duration_ms":4940,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":90,"max":180,"span":90,"stand":135,"relative_to_stand":[-45,45]},{"id":1,"label":"R2","min":45,"max":100,"span":55,"stand":45,"relative_to_stand":[0,55]},{"id":2,"label":"L1","min":0,"max":90,"span":90,"stand":45,"relative_to_stand":[-45,45]},{"id":3,"label":"L2","min":90,"max":135,"span":45,"stand":135,"relative_to_stand":[-45,0]},{"id":4,"label":"R4","min":0,"max":45,"span":45,"stand":0,"relative_to_stand":[0,45]},{"id":5,"label":"R3","min":135,"max":180,"span":45,"stand":180,"relative_to_stand":[-45,0]},{"id":6,"label":"L3","min":0,"max":45,"span":45,"stand":0,"relative_to_stand":[0,45]},{"id":7,"label":"L4","min":135,"max":180,"span":45,"stand":180,"relative_to_stand":[-45,0]}]},{"name":"walk_backward","frames":31,"duration_ms":4760,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":90,"max":180,"span":90,"stand":135,"relative_to_stand":[-45,45]},{"id":1,"label":"R2","min":45,"max":90,"span":45,"stand":45,"relative_to_stand":[0,45]},{"id":2,"label":"L1","min":0,"max":90,"span":90,"stand":45,"relative_to_stand":[-45,45]},{"id":3,"label":"L2","min":90,"max":135,"span":45,"stand":135,"relative_to_stand":[-45,0]},{"id":4,"label":"R4","min":0,"max":45,"span":45,"stand":0,"relative_to_stand":[0,45]},{"id":5,"label":"R3","min":135,"max":180,"span":45,"stand":180,"relative_to_stand":[-45,0]},{"id":6,"label":"L3","min":0,"max":45,"span":45,"stand":0,"relative_to_stand":[0,45]},{"id":7,"label":"L4","min":135,"max":180,"span":45,"stand":180,"relative_to_stand":[-45,0]}]},{"name":"turn_left","frames":81,"duration_ms":11360,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":180,"span":45,"stand":135,"relative_to_stand":[0,45]},{"id":1,"label":"R2","min":45,"max":90,"span":45,"stand":45,"relative_to_stand":[0,45]},{"id":2,"label":"L1","min":45,"max":90,"span":45,"stand":45,"relative_to_stand":[0,45]},{"id":3,"label":"L2","min":135,"max":180,"span":45,"stand":135,"relative_to_stand":[0,45]},{"id":4,"label":"R4","min":0,"max":45,"span":45,"stand":0,"relative_to_stand":[0,45]},{"id":5,"label":"R3","min":135,"max":180,"span":45,"stand":180,"relative_to_stand":[-45,0]},{"id":6,"label":"L3","min":0,"max":45,"span":45,"stand":0,"relative_to_stand":[0,45]},{"id":7,"label":"L4","min":135,"max":180,"span":45,"stand":180,"relative_to_stand":[-45,0]}]},{"name":"turn_right","frames":81,"duration_ms":11360,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":90,"max":135,"span":45,"stand":135,"relative_to_stand":[-45,0]},{"id":1,"label":"R2","min":0,"max":45,"span":45,"stand":45,"relative_to_stand":[-45,0]},{"id":2,"label":"L1","min":0,"max":45,"span":45,"stand":45,"relative_to_stand":[-45,0]},{"id":3,"label":"L2","min":90,"max":135,"span":45,"stand":135,"relative_to_stand":[-45,0]},{"id":4,"label":"R4","min":0,"max":45,"span":45,"stand":0,"relative_to_stand":[0,45]},{"id":5,"label":"R3","min":135,"max":180,"span":45,"stand":180,"relative_to_stand":[-45,0]},{"id":6,"label":"L3","min":0,"max":45,"span":45,"stand":0,"relative_to_stand":[0,45]},{"id":7,"label":"L4","min":135,"max":180,"span":45,"stand":180,"relative_to_stand":[-45,0]}]},{"name":"sit","frames":2,"duration_ms":1450,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":135,"span":0,"stand":135,"relative_to_stand":[0,0]},{"id":1,"label":"R2","min":45,"max":45,"span":0,"stand":45,"relative_to_stand":[0,0]},{"id":2,"label":"L1","min":45,"max":45,"span":0,"stand":45,"relative_to_stand":[0,0]},{"id":3,"label":"L2","min":135,"max":135,"span":0,"stand":135,"relative_to_stand":[0,0]},{"id":4,"label":"R4","min":60,"max":60,"span":0,"stand":0,"relative_to_stand":[60,60]},{"id":5,"label":"R3","min":180,"max":180,"span":0,"stand":180,"relative_to_stand":[0,0]},{"id":6,"label":"L3","min":0,"max":0,"span":0,"stand":0,"relative_to_stand":[0,0]},{"id":7,"label":"L4","min":120,"max":120,"span":0,"stand":180,"relative_to_stand":[-60,-60]}]},{"name":"nod","frames":9,"duration_ms":2460,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":135,"span":0,"stand":135,"relative_to_stand":[0,0]},{"id":1,"label":"R2","min":45,"max":45,"span":0,"stand":45,"relative_to_stand":[0,0]},{"id":2,"label":"L1","min":45,"max":45,"span":0,"stand":45,"relative_to_stand":[0,0]},{"id":3,"label":"L2","min":135,"max":135,"span":0,"stand":135,"relative_to_stand":[0,0]},{"id":4,"label":"R4","min":0,"max":0,"span":0,"stand":0,"relative_to_stand":[0,0]},{"id":5,"label":"R3","min":104,"max":180,"span":76,"stand":180,"relative_to_stand":[-76,0]},{"id":6,"label":"L3","min":0,"max":76,"span":76,"stand":0,"relative_to_stand":[0,76]},{"id":7,"label":"L4","min":180,"max":180,"span":0,"stand":180,"relative_to_stand":[0,0]}]},{"name":"celebrate","frames":13,"duration_ms":6130,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":180,"span":45,"stand":135,"relative_to_stand":[0,45]},{"id":1,"label":"R2","min":20,"max":45,"span":25,"stand":45,"relative_to_stand":[-25,0]},{"id":2,"label":"L1","min":0,"max":45,"span":45,"stand":45,"relative_to_stand":[-45,0]},{"id":3,"label":"L2","min":135,"max":160,"span":25,"stand":135,"relative_to_stand":[0,25]},{"id":4,"label":"R4","min":0,"max":180,"span":180,"stand":0,"relative_to_stand":[0,180]},{"id":5,"label":"R3","min":0,"max":180,"span":180,"stand":180,"relative_to_stand":[-180,0]},{"id":6,"label":"L3","min":0,"max":180,"span":180,"stand":0,"relative_to_stand":[0,180]},{"id":7,"label":"L4","min":0,"max":180,"span":180,"stand":180,"relative_to_stand":[-180,0]}]},{"name":"stretch","frames":8,"duration_ms":4330,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":180,"span":45,"stand":135,"relative_to_stand":[0,45]},{"id":1,"label":"R2","min":45,"max":60,"span":15,"stand":45,"relative_to_stand":[0,15]},{"id":2,"label":"L1","min":0,"max":45,"span":45,"stand":45,"relative_to_stand":[-45,0]},{"id":3,"label":"L2","min":120,"max":135,"span":15,"stand":135,"relative_to_stand":[-15,0]},{"id":4,"label":"R4","min":0,"max":37.5,"span":37.5,"stand":0,"relative_to_stand":[0,37.5]},{"id":5,"label":"R3","min":72,"max":180,"span":108,"stand":180,"relative_to_stand":[-108,0]},{"id":6,"label":"L3","min":0,"max":108,"span":108,"stand":0,"relative_to_stand":[0,108]},{"id":7,"label":"L4","min":142.5,"max":180,"span":37.5,"stand":180,"relative_to_stand":[-37.5,0]}]},{"name":"macarena","frames":34,"duration_ms":15680,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":85,"max":150,"span":65,"stand":135,"relative_to_stand":[-50,15]},{"id":1,"label":"R2","min":30,"max":60,"span":30,"stand":45,"relative_to_stand":[-15,15]},{"id":2,"label":"L1","min":30,"max":95,"span":65,"stand":45,"relative_to_stand":[-15,50]},{"id":3,"label":"L2","min":120,"max":150,"span":30,"stand":135,"relative_to_stand":[-15,15]},{"id":4,"label":"R4","min":0,"max":25,"span":25,"stand":0,"relative_to_stand":[0,25]},{"id":5,"label":"R3","min":90,"max":180,"span":90,"stand":180,"relative_to_stand":[-90,0]},{"id":6,"label":"L3","min":0,"max":90,"span":90,"stand":0,"relative_to_stand":[0,90]},{"id":7,"label":"L4","min":160,"max":180,"span":20,"stand":180,"relative_to_stand":[-20,0]}]},{"name":"salsa","frames":34,"duration_ms":13120,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":115,"max":150,"span":35,"stand":135,"relative_to_stand":[-20,15]},{"id":1,"label":"R2","min":45,"max":65,"span":20,"stand":45,"relative_to_stand":[0,20]},{"id":2,"label":"L1","min":25,"max":65,"span":40,"stand":45,"relative_to_stand":[-20,20]},{"id":3,"label":"L2","min":115,"max":135,"span":20,"stand":135,"relative_to_stand":[-20,0]},{"id":4,"label":"R4","min":0,"max":35,"span":35,"stand":0,"relative_to_stand":[0,35]},{"id":5,"label":"R3","min":130,"max":180,"span":50,"stand":180,"relative_to_stand":[-50,0]},{"id":6,"label":"L3","min":0,"max":50,"span":50,"stand":0,"relative_to_stand":[0,50]},{"id":7,"label":"L4","min":145,"max":180,"span":35,"stand":180,"relative_to_stand":[-35,0]}]},{"name":"surprised","frames":12,"duration_ms":5000,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":135,"span":0,"stand":135,"relative_to_stand":[0,0]},{"id":1,"label":"R2","min":45,"max":45,"span":0,"stand":45,"relative_to_stand":[0,0]},{"id":2,"label":"L1","min":45,"max":45,"span":0,"stand":45,"relative_to_stand":[0,0]},{"id":3,"label":"L2","min":135,"max":135,"span":0,"stand":135,"relative_to_stand":[0,0]},{"id":4,"label":"R4","min":0,"max":90,"span":90,"stand":0,"relative_to_stand":[0,90]},{"id":5,"label":"R3","min":0,"max":180,"span":180,"stand":180,"relative_to_stand":[-180,0]},{"id":6,"label":"L3","min":0,"max":180,"span":180,"stand":0,"relative_to_stand":[0,180]},{"id":7,"label":"L4","min":90,"max":180,"span":90,"stand":180,"relative_to_stand":[-90,0]}]},{"name":"sad","frames":8,"duration_ms":4660,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":172.5,"span":37.5,"stand":135,"relative_to_stand":[0,37.5]},{"id":1,"label":"R2","min":45,"max":52.5,"span":7.5,"stand":45,"relative_to_stand":[0,7.5]},{"id":2,"label":"L1","min":7.5,"max":45,"span":37.5,"stand":45,"relative_to_stand":[-37.5,0]},{"id":3,"label":"L2","min":127.5,"max":135,"span":7.5,"stand":135,"relative_to_stand":[-7.5,0]},{"id":4,"label":"R4","min":0,"max":15,"span":15,"stand":0,"relative_to_stand":[0,15]},{"id":5,"label":"R3","min":90,"max":180,"span":90,"stand":180,"relative_to_stand":[-90,0]},{"id":6,"label":"L3","min":0,"max":90,"span":90,"stand":0,"relative_to_stand":[0,90]},{"id":7,"label":"L4","min":165,"max":180,"span":15,"stand":180,"relative_to_stand":[-15,0]}]},{"name":"curious","frames":72,"duration_ms":18490,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":112.5,"max":157.5,"span":45,"stand":135,"relative_to_stand":[-22.5,22.5]},{"id":1,"label":"R2","min":22.5,"max":67.5,"span":45,"stand":45,"relative_to_stand":[-22.5,22.5]},{"id":2,"label":"L1","min":22.5,"max":67.5,"span":45,"stand":45,"relative_to_stand":[-22.5,22.5]},{"id":3,"label":"L2","min":112.5,"max":157.5,"span":45,"stand":135,"relative_to_stand":[-22.5,22.5]},{"id":4,"label":"R4","min":0,"max":26.2,"span":26.2,"stand":0,"relative_to_stand":[0,26.2]},{"id":5,"label":"R3","min":153.8,"max":180,"span":26.19999999999999,"stand":180,"relative_to_stand":[-26.19999999999999,0]},{"id":6,"label":"L3","min":0,"max":26.2,"span":26.2,"stand":0,"relative_to_stand":[0,26.2]},{"id":7,"label":"L4","min":153.8,"max":180,"span":26.19999999999999,"stand":180,"relative_to_stand":[-26.19999999999999,0]}]},{"name":"turn_left_45","frames":26,"duration_ms":6240,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":157.5,"span":22.5,"stand":135,"relative_to_stand":[0,22.5]},{"id":1,"label":"R2","min":45,"max":67.5,"span":22.5,"stand":45,"relative_to_stand":[0,22.5]},{"id":2,"label":"L1","min":45,"max":67.5,"span":22.5,"stand":45,"relative_to_stand":[0,22.5]},{"id":3,"label":"L2","min":135,"max":157.5,"span":22.5,"stand":135,"relative_to_stand":[0,22.5]},{"id":4,"label":"R4","min":0,"max":26.2,"span":26.2,"stand":0,"relative_to_stand":[0,26.2]},{"id":5,"label":"R3","min":153.8,"max":180,"span":26.19999999999999,"stand":180,"relative_to_stand":[-26.19999999999999,0]},{"id":6,"label":"L3","min":0,"max":26.2,"span":26.2,"stand":0,"relative_to_stand":[0,26.2]},{"id":7,"label":"L4","min":153.8,"max":180,"span":26.19999999999999,"stand":180,"relative_to_stand":[-26.19999999999999,0]}]},{"name":"turn_right_45","frames":26,"duration_ms":6240,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":112.5,"max":135,"span":22.5,"stand":135,"relative_to_stand":[-22.5,0]},{"id":1,"label":"R2","min":22.5,"max":45,"span":22.5,"stand":45,"relative_to_stand":[-22.5,0]},{"id":2,"label":"L1","min":22.5,"max":45,"span":22.5,"stand":45,"relative_to_stand":[-22.5,0]},{"id":3,"label":"L2","min":112.5,"max":135,"span":22.5,"stand":135,"relative_to_stand":[-22.5,0]},{"id":4,"label":"R4","min":0,"max":26.2,"span":26.2,"stand":0,"relative_to_stand":[0,26.2]},{"id":5,"label":"R3","min":153.8,"max":180,"span":26.19999999999999,"stand":180,"relative_to_stand":[-26.19999999999999,0]},{"id":6,"label":"L3","min":0,"max":26.2,"span":26.2,"stand":0,"relative_to_stand":[0,26.2]},{"id":7,"label":"L4","min":153.8,"max":180,"span":26.19999999999999,"stand":180,"relative_to_stand":[-26.19999999999999,0]}]},{"name":"turn_left_90","frames":50,"duration_ms":11520,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":157.5,"span":22.5,"stand":135,"relative_to_stand":[0,22.5]},{"id":1,"label":"R2","min":45,"max":67.5,"span":22.5,"stand":45,"relative_to_stand":[0,22.5]},{"id":2,"label":"L1","min":45,"max":67.5,"span":22.5,"stand":45,"relative_to_stand":[0,22.5]},{"id":3,"label":"L2","min":135,"max":157.5,"span":22.5,"stand":135,"relative_to_stand":[0,22.5]},{"id":4,"label":"R4","min":0,"max":26.2,"span":26.2,"stand":0,"relative_to_stand":[0,26.2]},{"id":5,"label":"R3","min":153.8,"max":180,"span":26.19999999999999,"stand":180,"relative_to_stand":[-26.19999999999999,0]},{"id":6,"label":"L3","min":0,"max":26.2,"span":26.2,"stand":0,"relative_to_stand":[0,26.2]},{"id":7,"label":"L4","min":153.8,"max":180,"span":26.19999999999999,"stand":180,"relative_to_stand":[-26.19999999999999,0]}]},{"name":"turn_right_90","frames":50,"duration_ms":11520,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":112.5,"max":135,"span":22.5,"stand":135,"relative_to_stand":[-22.5,0]},{"id":1,"label":"R2","min":22.5,"max":45,"span":22.5,"stand":45,"relative_to_stand":[-22.5,0]},{"id":2,"label":"L1","min":22.5,"max":45,"span":22.5,"stand":45,"relative_to_stand":[-22.5,0]},{"id":3,"label":"L2","min":112.5,"max":135,"span":22.5,"stand":135,"relative_to_stand":[-22.5,0]},{"id":4,"label":"R4","min":0,"max":26.2,"span":26.2,"stand":0,"relative_to_stand":[0,26.2]},{"id":5,"label":"R3","min":153.8,"max":180,"span":26.19999999999999,"stand":180,"relative_to_stand":[-26.19999999999999,0]},{"id":6,"label":"L3","min":0,"max":26.2,"span":26.2,"stand":0,"relative_to_stand":[0,26.2]},{"id":7,"label":"L4","min":153.8,"max":180,"span":26.19999999999999,"stand":180,"relative_to_stand":[-26.19999999999999,0]}]},{"name":"turn_left_180","frames":98,"duration_ms":22180,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":157.5,"span":22.5,"stand":135,"relative_to_stand":[0,22.5]},{"id":1,"label":"R2","min":45,"max":67.5,"span":22.5,"stand":45,"relative_to_stand":[0,22.5]},{"id":2,"label":"L1","min":45,"max":67.5,"span":22.5,"stand":45,"relative_to_stand":[0,22.5]},{"id":3,"label":"L2","min":135,"max":157.5,"span":22.5,"stand":135,"relative_to_stand":[0,22.5]},{"id":4,"label":"R4","min":0,"max":26.2,"span":26.2,"stand":0,"relative_to_stand":[0,26.2]},{"id":5,"label":"R3","min":153.8,"max":180,"span":26.19999999999999,"stand":180,"relative_to_stand":[-26.19999999999999,0]},{"id":6,"label":"L3","min":0,"max":26.2,"span":26.2,"stand":0,"relative_to_stand":[0,26.2]},{"id":7,"label":"L4","min":153.8,"max":180,"span":26.19999999999999,"stand":180,"relative_to_stand":[-26.19999999999999,0]}]},{"name":"turn_right_180","frames":98,"duration_ms":22180,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":112.5,"max":135,"span":22.5,"stand":135,"relative_to_stand":[-22.5,0]},{"id":1,"label":"R2","min":22.5,"max":45,"span":22.5,"stand":45,"relative_to_stand":[-22.5,0]},{"id":2,"label":"L1","min":22.5,"max":45,"span":22.5,"stand":45,"relative_to_stand":[-22.5,0]},{"id":3,"label":"L2","min":112.5,"max":135,"span":22.5,"stand":135,"relative_to_stand":[-22.5,0]},{"id":4,"label":"R4","min":0,"max":26.2,"span":26.2,"stand":0,"relative_to_stand":[0,26.2]},{"id":5,"label":"R3","min":153.8,"max":180,"span":26.19999999999999,"stand":180,"relative_to_stand":[-26.19999999999999,0]},{"id":6,"label":"L3","min":0,"max":26.2,"span":26.2,"stand":0,"relative_to_stand":[0,26.2]},{"id":7,"label":"L4","min":153.8,"max":180,"span":26.19999999999999,"stand":180,"relative_to_stand":[-26.19999999999999,0]}]},{"name":"walk_slow","frames":21,"duration_ms":6740,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":90,"max":180,"span":90,"stand":135,"relative_to_stand":[-45,45]},{"id":1,"label":"R2","min":45,"max":100,"span":55,"stand":45,"relative_to_stand":[0,55]},{"id":2,"label":"L1","min":0,"max":90,"span":90,"stand":45,"relative_to_stand":[-45,45]},{"id":3,"label":"L2","min":90,"max":135,"span":45,"stand":135,"relative_to_stand":[-45,0]},{"id":4,"label":"R4","min":0,"max":45,"span":45,"stand":0,"relative_to_stand":[0,45]},{"id":5,"label":"R3","min":135,"max":180,"span":45,"stand":180,"relative_to_stand":[-45,0]},{"id":6,"label":"L3","min":0,"max":45,"span":45,"stand":0,"relative_to_stand":[0,45]},{"id":7,"label":"L4","min":135,"max":180,"span":45,"stand":180,"relative_to_stand":[-45,0]}]},{"name":"run","frames":39,"duration_ms":5180,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":90,"max":180,"span":90,"stand":135,"relative_to_stand":[-45,45]},{"id":1,"label":"R2","min":45,"max":100,"span":55,"stand":45,"relative_to_stand":[0,55]},{"id":2,"label":"L1","min":0,"max":90,"span":90,"stand":45,"relative_to_stand":[-45,45]},{"id":3,"label":"L2","min":90,"max":135,"span":45,"stand":135,"relative_to_stand":[-45,0]},{"id":4,"label":"R4","min":0,"max":45,"span":45,"stand":0,"relative_to_stand":[0,45]},{"id":5,"label":"R3","min":135,"max":180,"span":45,"stand":180,"relative_to_stand":[-45,0]},{"id":6,"label":"L3","min":0,"max":45,"span":45,"stand":0,"relative_to_stand":[0,45]},{"id":7,"label":"L4","min":135,"max":180,"span":45,"stand":180,"relative_to_stand":[-45,0]}]},{"name":"number_one","frames":18,"duration_ms":7690,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":112.5,"max":180,"span":67.5,"stand":135,"relative_to_stand":[-22.5,45]},{"id":1,"label":"R2","min":22.5,"max":100,"span":77.5,"stand":45,"relative_to_stand":[-22.5,55]},{"id":2,"label":"L1","min":0,"max":45,"span":45,"stand":45,"relative_to_stand":[-45,0]},{"id":3,"label":"L2","min":90,"max":135,"span":45,"stand":135,"relative_to_stand":[-45,0]},{"id":4,"label":"R4","min":0,"max":80,"span":80,"stand":0,"relative_to_stand":[0,80]},{"id":5,"label":"R3","min":90,"max":180,"span":90,"stand":180,"relative_to_stand":[-90,0]},{"id":6,"label":"L3","min":0,"max":90,"span":90,"stand":0,"relative_to_stand":[0,90]},{"id":7,"label":"L4","min":35,"max":180,"span":145,"stand":180,"relative_to_stand":[-145,0]}]},{"name":"number_two","frames":9,"duration_ms":4870,"repeat_count":1,"ranges_degrees":[{"id":0,"label":"R1","min":135,"max":135,"span":0,"stand":135,"relative_to_stand":[0,0]},{"id":1,"label":"R2","min":45,"max":80,"span":35,"stand":45,"relative_to_stand":[0,35]},{"id":2,"label":"L1","min":45,"max":45,"span":0,"stand":45,"relative_to_stand":[0,0]},{"id":3,"label":"L2","min":100,"max":135,"span":35,"stand":135,"relative_to_stand":[-35,0]},{"id":4,"label":"R4","min":0,"max":65,"span":65,"stand":0,"relative_to_stand":[0,65]},{"id":5,"label":"R3","min":180,"max":180,"span":0,"stand":180,"relative_to_stand":[0,0]},{"id":6,"label":"L3","min":0,"max":0,"span":0,"stand":0,"relative_to_stand":[0,0]},{"id":7,"label":"L4","min":115,"max":180,"span":65,"stand":180,"relative_to_stand":[-65,0]}]}]},"v2":{"frames_compared":505,"angle_ranges_degrees":{"alpha":[-53.4,67.4],"theta":[-51.95331106142828,51.63033976291183],"beta":[-48.101135946762014,25.87154763252526]},"spans_degrees":{"alpha":120.80000000000001,"theta":103.58365082434011,"beta":73.97268357928728},"FL_input_output_samples":[{"theta_degrees":-51.95331106142828,"beta_degrees":-48.101135946762014},{"theta_degrees":-30,"beta_degrees":-24.65155034369531},{"theta_degrees":0,"beta_degrees":0},{"theta_degrees":30,"beta_degrees":17.494151777465202},{"theta_degrees":51.63033976291183,"beta_degrees":25.87154763252526}],"coupler_lengths_mm":{"FL":39.99998789991713,"FR":24.639499418468773,"RL":24.639505916935835,"RR":24.639505916935747},"verification_errors":{"forward_foot_mm":0.0000055689969474787816,"inverse_foot_mm":6.394884621840902e-14,"inverse_joint_radians":3.1086244689504383e-15},"neutral_positions_checked":4,"shoulder_math_round_trips":8,"combined_clearance_checked":false,"gait_calculated":false},"sources":[{"file":"Slave/software/assets/seed/motions-v1.json","root":"Ainekio","sha256":"958986b944646471065d5bc6e3586e698b0fed0921fbe2f482f914c1d6eeb5c7"},{"file":"Slave/software/assets/seed/motions-bin-v1.json","root":"Ainekio","sha256":"90233e0e50a73cc7afbf511fd1c59cb041a194bc08622a5c81130b33a740413b"},{"file":"Slave/software/core/src/servo.c","root":"Ainekio","sha256":"ebc36674daa86afd92a3d9c8f8958db7ab376879e55cdada96eb2498a2f68a24"},{"file":"Slave/firmware/esp32s3/sdkconfig.defaults","root":"Ainekio","sha256":"7acc31ca5266f26a8c2b88a6c9efb0a3013217f8af2b900d24721ee992b1ada5"},{"file":"robot-leg-motion-20260915/agent-handoff/robot-gait-parameters.json","root":"Blender","sha256":"ee58044b02c5e9ae36d40fd0c59e334f0e7a0da22c13c6a2eac1d9abe438f629"},{"file":"robot-leg-motion-20260915/agent-handoff/gait_kinematics.py","root":"Blender","sha256":"003f557cad47a5fb63932c01345fe87212346b69d742a50f8fd455b5aa9b4c84"},{"file":"robot-leg-motion-20260915/agent-handoff/WALKING_GAIT_HANDOFF.md","root":"Blender","sha256":"489fac572633406e75b65be5fd2da49e2c9f6c2078002f175187c08b6e5abdc0"},{"file":"robot-leg-motion-20260915/animation-plan.json","root":"Blender","sha256":"ba559fad8b923581c48bb9a7d8422c9d46f89b77af36daa76016d036315dcc74"},{"file":"robot-part024-from-part026-20260915/replacement-plan.json","root":"Blender","sha256":"8222a52f7c03660e045fcb6c65a663b2e4f86c83e8061a1b25fa8972882e6d99"}]}