{"schema":"ainekio.gait.timestamps.v3","timestamp":"seconds; use actual nonuniform timestamps. Constant phase spacing gives higher temporal sampling at faster motion rates.","legs_in_column_order":[{"CAD":"RL","physical":"front_left"},{"CAD":"RR","physical":"front_right"},{"CAD":"FL","physical":"rear_left"},{"CAD":"FR","physical":"rear_right"}],"joints_in_column_order":["h_Part002","alpha_Part006","theta_Part005"],"joint_angles":"signed geometric radians relative to CAD neutral; not PWM/electrical zero","body_pose":"translation mm plus XYZ Euler radians, rotated around body_rotation_pivot_mm from configuration","foot_targets":"sole_reference_world is the moving rigid-foot reference; lowest_contact_world is actual geometric support; neither is an attachment bolt","contact_model":"Fixed world XY sole-reference during stance; actual complete sole hull minimum Z is enforced. Contact migrates on the faceted rocking sole; material-point slip is reported separately.","phase":"unwrapped continuous gait phase; demonstration smoothly changes stride and rate. Future stance travel sets touchdown anchors; current stance anchors stay fixed.","control_policy":"p=stride_percent/100; stance_sweep=92*p mm; cycle_advance=stance_sweep/0.7; cycle_frequency=motion_rate/1.8 Hz; speed=cycle_advance*cycle_frequency. Rear bias=(30/92)*predicted body travel during each stance; only future footholds move when stride changes.","mass_and_COM":"COM assumed, unknown mass and payload; no physical qualification","rearward_bias":"30/92 of anticipated body travel over each stance. Nominal columns describe current controls; actual per-leg anchors anticipate the upcoming stance during transitions.","runtime_scope":"Offline deterministic planned demo. A real-time command/replanning loop and embedded IK implementation are still required."}