{"WS-R01":[{"sample":0,"time":0.0,"margin":44.8,"clearance":-0.0,"forward":-0.0,"support":"D","com":[-0.59,2.7,348.59],"links":{"base_link":[0.0,0.0,390.0],"L_hip_yaw_link":[62.5,0.0,410.0],"R_hip_yaw_link":[-62.5,0.0,410.0],"torso":[0.0,0.0,512.5],"neck_pan_link":[0.0,0.0,625.0],"head":[0.0,0.0,706.0],"L_hip_roll_link":[62.5,0.0,390.0],"L_shoulder_pitch_link":[90.0,0.0,590.0],"L_upper_arm":[90.0,0.0,517.45],"R_hip_roll_link":[-62.5,0.0,390.0],"R_shoulder_pitch_link":[-90.0,0.0,590.0],"R_upper_arm":[-90.0,0.0,517.45],"L_forearm":[133.0,0.0,372.44],"L_thigh":[62.5,0.0,290.0],"L_shin":[62.5,0.0,128.0],"L_hand":[133.0,0.0,274.98],"R_forearm":[-133.0,0.0,372.44],"R_thigh":[-62.5,0.0,290.0],"R_shin":[-62.5,0.0,128.0],"R_hand":[-133.0,0.0,274.98],"L_ankle_pitch_link":[62.5,0.0,55.0],"L_foot":[62.5,-25.0,17.5],"L_gripper":[143.0,0.0,246.98],"R_ankle_pitch_link":[-62.5,0.0,55.0],"R_foot":[-62.5,-25.0,17.5],"R_gripper":[-143.0,0.0,246.98]}},{"sample":5,"time":0.1,"margin":44.81,"clearance":0.0,"forward":0.0,"support":"D","com":[-0.59,2.69,348.59],"links":{"base_link":[0.0,0.0,390.0],"L_hip_yaw_link":[62.5,0.0,410.0],"R_hip_yaw_link":[-62.5,0.0,410.0],"torso":[0.0,0.0,512.5],"neck_pan_link":[0.0,0.0,625.0],"head":[0.0,0.0,706.0],"L_hip_roll_link":[62.5,0.0,390.0],"L_shoulder_pitch_link":[90.0,0.0,590.0],"L_upper_arm":[90.0,0.0,517.45],"R_hip_roll_link":[-62.5,0.0,390.0],"R_shoulder_pitch_link":[-90.0,0.0,590.0],"R_upper_arm":[-90.0,0.0,517.45],"L_forearm":[133.0,0.0,372.44],"L_thigh":[62.5,-0.03,290.0],"L_shin":[62.5,-0.03,128.0],"L_hand":[133.0,0.0,274.98],"R_forearm":[-133.0,0.0,372.44],"R_thigh":[-62.5,-0.03,290.0],"R_shin":[-62.5,-0.03,128.0],"R_hand":[-133.0,0.0,274.98],"L_ankle_pitch_link":[62.5,-0.0,55.0],"L_foot":[62.5,-25.0,17.5],"L_gripper":[143.0,0.0,246.98],"R_ankle_pitch_link":[-62.5,-0.0,55.0],"R_foot":[-62.5,-25.0,17.5],"R_gripper":[-143.0,0.0,246.98]}},{"sample":10,"time":0.2,"margin":44.84,"clearance":-0.0,"forward":0.01,"support":"D","com":[-0.59,2.64,348.59],"links":{"base_link":[0.0,0.0,390.0],"L_hip_yaw_link":[62.5,0.0,410.0],"R_hip_yaw_link":[-62.5,0.0,410.0],"torso":[0.0,0.0,512.5],"neck_pan_link":[0.0,0.0,625.0],"head":[0.0,0.0,706.0],"L_hip_roll_link":[62.5,0.0,390.0],"L_shoulder_pitch_link":[90.0,0.0,590.0],"L_upper_arm":[90.0,0.0,517.45],"R_hip_roll_link":[-62.5,0.0,390.0],"R_shoulder_pitch_link":[-90.0,0.0,590.0],"R_upper_arm":[-90.0,0.0,517.45],"L_forearm":[133.0,0.0,372.43],"L_thigh":[62.5,-0.21,290.0],"L_shin":[62.5,-0.21,128.0],"L_hand":[133.0,0.0,274.98],"R_forearm":[-133.0,0.0,372.43],"R_thigh":[-62.5,-0.21,290.0],"R_shin":[-62.5,-0.21,128.0],"R_hand":[-133.0,0.0,274.98],"L_ankle_pitch_link":[62.5,-0.01,55.0],"L_foot":[62.5,-25.01,17.5],"L_gripper":[143.0,0.0,246.98],"R_ankle_pitch_link":[-62.5,-0.01,55.0],"R_foot":[-62.5,-25.01,17.5],"R_gripper":[-143.0,0.0,246.98]}},{"sample":15,"time":0.3,"margin":44.94,"clearance":0.0,"forward":0.04,"support":"D","com":[-0.59,2.52,348.58],"links":{"base_link":[0.0,0.0,389.99],"L_hip_yaw_link":[62.5,0.0,409.99],"R_hip_yaw_link":[-62.5,0.0,409.99],"torso":[0.0,0.0,512.49],"neck_pan_link":[0.0,0.0,624.99],"head":[0.0,0.0,705.99],"L_hip_roll_link":[62.5,0.0,389.99],"L_shoulder_pitch_link":[90.0,0.0,589.99],"L_upper_arm":[90.0,0.0,517.44],"R_hip_roll_link":[-62.5,0.0,389.99],"R_shoulder_pitch_link":[-90.0,0.0,589.99],"R_upper_arm":[-90.0,0.0,517.44],"L_forearm":[133.0,0.0,372.43],"L_thigh":[62.5,-0.65,289.99],"L_shin":[62.5,-0.63,128.0],"L_hand":[133.0,0.0,274.97],"R_forearm":[-133.0,0.0,372.43],"R_thigh":[-62.5,-0.65,289.99],"R_shin":[-62.5,-0.63,128.0],"R_hand":[-133.0,0.0,274.97],"L_ankle_pitch_link":[62.5,-0.04,55.0],"L_foot":[62.5,-25.04,17.5],"L_gripper":[143.0,0.0,246.97],"R_ankle_pitch_link":[-62.5,-0.04,55.0],"R_foot":[-62.5,-25.04,17.5],"R_gripper":[-143.0,0.0,246.97]}},{"sample":20,"time":0.4,"margin":45.09,"clearance":0.0,"forward":0.09,"support":"D","com":[-0.59,2.33,348.55],"links":{"base_link":[0.0,0.0,389.95],"L_hip_yaw_link":[62.5,0.0,409.95],"R_hip_yaw_link":[-62.5,0.0,409.95],"torso":[0.0,0.0,512.45],"neck_pan_link":[0.0,0.0,624.95],"head":[0.0,0.0,705.95],"L_hip_roll_link":[62.5,0.0,389.95],"L_shoulder_pitch_link":[90.0,0.0,589.95],"L_upper_arm":[90.0,0.0,517.4],"R_hip_roll_link":[-62.5,0.0,389.95],"R_shoulder_pitch_link":[-90.0,0.0,589.95],"R_upper_arm":[-90.0,0.0,517.4],"L_forearm":[133.0,0.0,372.39],"L_thigh":[62.5,-1.36,289.97],"L_shin":[62.5,-1.33,127.99],"L_hand":[133.0,0.0,274.93],"R_forearm":[-133.0,0.0,372.39],"R_thigh":[-62.5,-1.36,289.97],"R_shin":[-62.5,-1.33,127.99],"R_hand":[-133.0,0.0,274.93],"L_ankle_pitch_link":[62.5,-0.09,55.0],"L_foot":[62.5,-25.09,17.5],"L_gripper":[143.0,0.0,246.93],"R_ankle_pitch_link":[-62.5,-0.09,55.0],"R_foot":[-62.5,-25.09,17.5],"R_gripper":[-143.0,0.0,246.93]}},{"sample":25,"time":0.5,"margin":45.29,"clearance":0.0,"forward":0.15,"support":"D","com":[-0.59,2.06,348.48],"links":{"base_link":[0.0,0.0,389.86],"L_hip_yaw_link":[62.5,0.0,409.86],"R_hip_yaw_link":[-62.5,0.0,409.86],"torso":[0.0,0.0,512.36],"neck_pan_link":[0.0,0.0,624.86],"head":[0.0,0.0,705.86],"L_hip_roll_link":[62.5,0.0,389.86],"L_shoulder_pitch_link":[90.0,0.0,589.86],"L_upper_arm":[90.0,0.0,517.31],"R_hip_roll_link":[-62.5,0.0,389.86],"R_shoulder_pitch_link":[-90.0,0.0,589.86],"R_upper_arm":[-90.0,0.0,517.31],"L_forearm":[133.0,0.0,372.3],"L_thigh":[62.5,-2.34,289.9],"L_shin":[62.5,-2.29,127.97],"L_hand":[133.0,0.0,274.84],"R_forearm":[-133.0,0.0,372.3],"R_thigh":[-62.5,-2.34,289.9],"R_shin":[-62.5,-2.29,127.97],"R_hand":[-133.0,0.0,274.84],"L_ankle_pitch_link":[62.5,-0.15,55.0],"L_foot":[62.5,-25.15,17.5],"L_gripper":[143.0,0.0,246.84],"R_ankle_pitch_link":[-62.5,-0.15,55.0],"R_foot":[-62.5,-25.15,17.5],"R_gripper":[-143.0,0.0,246.84]}},{"sample":30,"time":0.6,"margin":45.55,"clearance":0.0,"forward":0.22,"support":"D","com":[-0.59,1.73,348.34],"links":{"base_link":[0.0,0.0,389.69],"L_hip_yaw_link":[62.5,0.0,409.69],"R_hip_yaw_link":[-62.5,0.0,409.69],"torso":[0.0,0.0,512.19],"neck_pan_link":[0.0,0.0,624.69],"head":[0.0,0.0,705.69],"L_hip_roll_link":[62.5,0.0,389.69],"L_shoulder_pitch_link":[90.0,0.0,589.69],"L_upper_arm":[90.0,0.0,517.14],"R_hip_roll_link":[-62.5,0.0,389.69],"R_shoulder_pitch_link":[-90.0,0.0,589.69],"R_upper_arm":[-90.0,0.0,517.14],"L_forearm":[133.0,0.0,372.13],"L_thigh":[62.5,-3.54,289.77],"L_shin":[62.5,-3.46,127.93],"L_hand":[133.0,0.0,274.67],"R_forearm":[-133.0,0.0,372.13],"R_thigh":[-62.5,-3.54,289.77],"R_shin":[-62.5,-3.46,127.93],"R_hand":[-133.0,0.0,274.67],"L_ankle_pitch_link":[62.5,-0.22,55.0],"L_foot":[62.5,-25.22,17.5],"L_gripper":[143.0,0.0,246.67],"R_ankle_pitch_link":[-62.5,-0.22,55.0],"R_foot":[-62.5,-25.22,17.5],"R_gripper":[-143.0,0.0,246.67]}},{"sample":35,"time":0.7,"margin":45.83,"clearance":0.0,"forward":0.31,"support":"D","com":[-0.59,1.36,348.12],"links":{"base_link":[0.0,0.0,389.41],"L_hip_yaw_link":[62.5,0.0,409.41],"R_hip_yaw_link":[-62.5,0.0,409.41],"torso":[0.0,0.0,511.91],"neck_pan_link":[0.0,0.0,624.41],"head":[0.0,0.0,705.41],"L_hip_roll_link":[62.5,0.0,389.41],"L_shoulder_pitch_link":[90.0,0.0,589.41],"L_upper_arm":[90.0,0.0,516.86],"R_hip_roll_link":[-62.5,0.0,389.41],"R_shoulder_pitch_link":[-90.0,0.0,589.41],"R_upper_arm":[-90.0,0.0,516.86],"L_forearm":[133.0,0.0,371.85],"L_thigh":[62.5,-4.89,289.56],"L_shin":[62.5,-4.76,127.86],"L_hand":[133.0,0.0,274.39],"R_forearm":[-133.0,0.0,371.85],"R_thigh":[-62.5,-4.89,289.56],"R_shin":[-62.5,-4.76,127.86],"R_hand":[-133.0,0.0,274.39],"L_ankle_pitch_link":[62.5,-0.31,55.0],"L_foot":[62.5,-25.31,17.5],"L_gripper":[143.0,0.0,246.39],"R_ankle_pitch_link":[-62.5,-0.31,55.0],"R_foot":[-62.5,-25.31,17.5],"R_gripper":[-143.0,0.0,246.39]}},{"sample":40,"time":0.8,"margin":46.12,"clearance":0.0,"forward":0.39,"support":"D","com":[-0.59,0.98,347.82],"links":{"base_link":[0.0,0.0,389.03],"L_hip_yaw_link":[62.5,0.0,409.03],"R_hip_yaw_link":[-62.5,0.0,409.03],"torso":[0.0,0.0,511.53],"neck_pan_link":[0.0,0.0,624.03],"head":[0.0,0.0,705.03],"L_hip_roll_link":[62.5,0.0,389.03],"L_shoulder_pitch_link":[90.0,0.0,589.03],"L_upper_arm":[90.0,0.0,516.48],"R_hip_roll_link":[-62.5,0.0,389.03],"R_shoulder_pitch_link":[-90.0,0.0,589.03],"R_upper_arm":[-90.0,0.0,516.48],"L_forearm":[133.0,0.0,371.47],"L_thigh":[62.5,-6.27,289.28],"L_shin":[62.5,-6.12,127.78],"L_hand":[133.0,0.0,274.01],"R_forearm":[-133.0,0.0,371.47],"R_thigh":[-62.5,-6.27,289.28],"R_shin":[-62.5,-6.12,127.78],"R_hand":[-133.0,0.0,274.01],"L_ankle_pitch_link":[62.5,-0.39,55.0],"L_foot":[62.5,-25.39,17.5],"L_gripper":[143.0,0.0,246.01],"R_ankle_pitch_link":[-62.5,-0.39,55.0],"R_foot":[-62.5,-25.39,17.5],"R_gripper":[-143.0,0.0,246.01]}},{"sample":45,"time":0.9,"margin":46.41,"clearance":0.0,"forward":0.48,"support":"D","com":[-0.59,0.62,347.46],"links":{"base_link":[0.0,0.0,388.57],"L_hip_yaw_link":[62.5,0.0,408.57],"R_hip_yaw_link":[-62.5,0.0,408.57],"torso":[0.0,0.0,511.07],"neck_pan_link":[0.0,0.0,623.57],"head":[0.0,0.0,704.57],"L_hip_roll_link":[62.5,0.0,388.57],"L_shoulder_pitch_link":[90.0,0.0,588.57],"L_upper_arm":[90.0,0.0,516.02],"R_hip_roll_link":[-62.5,0.0,388.57],"R_shoulder_pitch_link":[-90.0,0.0,588.57],"R_upper_arm":[-90.0,0.0,516.02],"L_forearm":[133.0,0.0,371.01],"L_thigh":[62.5,-7.61,288.93],"L_shin":[62.5,-7.42,127.67],"L_hand":[133.0,0.0,273.55],"R_forearm":[-133.0,0.0,371.01],"R_thigh":[-62.5,-7.61,288.93],"R_shin":[-62.5,-7.42,127.67],"R_hand":[-133.0,0.0,273.55],"L_ankle_pitch_link":[62.5,-0.48,55.0],"L_foot":[62.5,-25.48,17.5],"L_gripper":[143.0,0.0,245.55],"R_ankle_pitch_link":[-62.5,-0.48,55.0],"R_foot":[-62.5,-25.48,17.5],"R_gripper":[-143.0,0.0,245.55]}},{"sample":50,"time":1.0,"margin":46.66,"clearance":-0.0,"forward":0.55,"support":"D","com":[-0.59,0.29,347.08],"links":{"base_link":[0.0,0.0,388.09],"L_hip_yaw_link":[62.5,0.0,408.09],"R_hip_yaw_link":[-62.5,0.0,408.09],"torso":[0.0,0.0,510.59],"neck_pan_link":[0.0,0.0,623.09],"head":[0.0,0.0,704.09],"L_hip_roll_link":[62.5,0.0,388.09],"L_shoulder_pitch_link":[90.0,0.0,588.09],"L_upper_arm":[90.0,0.0,515.53],"R_hip_roll_link":[-62.5,0.0,388.09],"R_shoulder_pitch_link":[-90.0,0.0,588.09],"R_upper_arm":[-90.0,0.0,515.53],"L_forearm":[133.0,0.0,370.52],"L_thigh":[62.5,-8.81,288.57],"L_shin":[62.5,-8.59,127.56],"L_hand":[133.0,0.0,273.06],"R_forearm":[-133.0,0.0,370.52],"R_thigh":[-62.5,-8.81,288.57],"R_shin":[-62.5,-8.59,127.56],"R_hand":[-133.0,0.0,273.06],"L_ankle_pitch_link":[62.5,-0.55,55.0],"L_foot":[62.5,-25.55,17.5],"L_gripper":[143.0,0.0,245.06],"R_ankle_pitch_link":[-62.5,-0.55,55.0],"R_foot":[-62.5,-25.55,17.5],"R_gripper":[-143.0,0.0,245.06]}},{"sample":55,"time":1.1,"margin":46.87,"clearance":0.0,"forward":0.61,"support":"D","com":[-0.59,0.02,346.73],"links":{"base_link":[0.0,0.0,387.64],"L_hip_yaw_link":[62.5,0.0,407.64],"R_hip_yaw_link":[-62.5,0.0,407.64],"torso":[0.0,0.0,510.14],"neck_pan_link":[0.0,0.0,622.64],"head":[0.0,0.0,703.64],"L_hip_roll_link":[62.5,0.0,387.64],"L_shoulder_pitch_link":[90.0,0.0,587.64],"L_upper_arm":[90.0,0.0,515.08],"R_hip_roll_link":[-62.5,0.0,387.64],"R_shoulder_pitch_link":[-90.0,0.0,587.64],"R_upper_arm":[-90.0,0.0,515.08],"L_forearm":[133.0,0.0,370.07],"L_thigh":[62.5,-9.78,288.24],"L_shin":[62.5,-9.54,127.45],"L_hand":[133.0,0.0,272.61],"R_forearm":[-133.0,0.0,370.07],"R_thigh":[-62.5,-9.78,288.24],"R_shin":[-62.5,-9.54,127.45],"R_hand":[-133.0,0.0,272.61],"L_ankle_pitch_link":[62.5,-0.61,55.0],"L_foot":[62.5,-25.61,17.5],"L_gripper":[143.0,0.0,244.61],"R_ankle_pitch_link":[-62.5,-0.61,55.0],"R_foot":[-62.5,-25.61,17.5],"R_gripper":[-143.0,0.0,244.61]}},{"sample":60,"time":1.2,"margin":47.01,"clearance":0.0,"forward":0.66,"support":"D","com":[-0.59,-0.17,346.45],"links":{"base_link":[0.0,0.0,387.28],"L_hip_yaw_link":[62.5,0.0,407.28],"R_hip_yaw_link":[-62.5,0.0,407.28],"torso":[0.0,0.0,509.78],"neck_pan_link":[0.0,0.0,622.28],"head":[0.0,0.0,703.28],"L_hip_roll_link":[62.5,0.0,387.28],"L_shoulder_pitch_link":[90.0,0.0,587.28],"L_upper_arm":[90.0,0.0,514.73],"R_hip_roll_link":[-62.5,0.0,387.28],"R_shoulder_pitch_link":[-90.0,0.0,587.28],"R_upper_arm":[-90.0,0.0,514.73],"L_forearm":[133.0,0.0,369.71],"L_thigh":[62.5,-10.49,287.97],"L_shin":[62.5,-10.23,127.37],"L_hand":[133.0,0.0,272.26],"R_forearm":[-133.0,0.0,369.71],"R_thigh":[-62.5,-10.49,287.97],"R_shin":[-62.5,-10.23,127.37],"R_hand":[-133.0,0.0,272.26],"L_ankle_pitch_link":[62.5,-0.66,55.0],"L_foot":[62.5,-25.66,17.5],"L_gripper":[143.0,0.0,244.26],"R_ankle_pitch_link":[-62.5,-0.66,55.0],"R_foot":[-62.5,-25.66,17.5],"R_gripper":[-143.0,0.0,244.26]}},{"sample":65,"time":1.3,"margin":47.11,"clearance":-0.0,"forward":0.68,"support":"D","com":[-0.59,-0.29,346.28],"links":{"base_link":[0.0,0.0,387.05],"L_hip_yaw_link":[62.5,0.0,407.05],"R_hip_yaw_link":[-62.5,0.0,407.05],"torso":[0.0,0.0,509.55],"neck_pan_link":[0.0,0.0,622.05],"head":[0.0,0.0,703.05],"L_hip_roll_link":[62.5,0.0,387.05],"L_shoulder_pitch_link":[90.0,0.0,587.05],"L_upper_arm":[90.0,0.0,514.5],"R_hip_roll_link":[-62.5,0.0,387.05],"R_shoulder_pitch_link":[-90.0,0.0,587.05],"R_upper_arm":[-90.0,0.0,514.5],"L_forearm":[133.0,0.0,369.49],"L_thigh":[62.5,-10.92,287.8],"L_shin":[62.5,-10.65,127.32],"L_hand":[133.0,0.0,272.03],"R_forearm":[-133.0,0.0,369.49],"R_thigh":[-62.5,-10.92,287.8],"R_shin":[-62.5,-10.65,127.32],"R_hand":[-133.0,0.0,272.03],"L_ankle_pitch_link":[62.5,-0.68,55.0],"L_foot":[62.5,-25.68,17.5],"L_gripper":[143.0,0.0,244.03],"R_ankle_pitch_link":[-62.5,-0.68,55.0],"R_foot":[-62.5,-25.68,17.5],"R_gripper":[-143.0,0.0,244.03]}},{"sample":70,"time":1.4,"margin":47.14,"clearance":0.0,"forward":0.69,"support":"D","com":[-0.59,-0.34,346.2],"links":{"base_link":[0.0,0.0,386.95],"L_hip_yaw_link":[62.5,0.0,406.95],"R_hip_yaw_link":[-62.5,0.0,406.95],"torso":[0.0,0.0,509.45],"neck_pan_link":[0.0,0.0,621.95],"head":[0.0,0.0,702.95],"L_hip_roll_link":[62.5,0.0,386.95],"L_shoulder_pitch_link":[90.0,0.0,586.95],"L_upper_arm":[90.0,0.0,514.4],"R_hip_roll_link":[-62.5,0.0,386.95],"R_shoulder_pitch_link":[-90.0,0.0,586.95],"R_upper_arm":[-90.0,0.0,514.4],"L_forearm":[133.0,0.0,369.39],"L_thigh":[62.5,-11.1,287.73],"L_shin":[62.5,-10.83,127.29],"L_hand":[133.0,0.0,271.93],"R_forearm":[-133.0,0.0,369.39],"R_thigh":[-62.5,-11.1,287.73],"R_shin":[-62.5,-10.83,127.29],"R_hand":[-133.0,0.0,271.93],"L_ankle_pitch_link":[62.5,-0.69,55.0],"L_foot":[62.5,-25.69,17.5],"L_gripper":[143.0,0.0,243.93],"R_ankle_pitch_link":[-62.5,-0.69,55.0],"R_foot":[-62.5,-25.69,17.5],"R_gripper":[-143.0,0.0,243.93]}},{"sample":75,"time":1.5,"margin":47.15,"clearance":0.0,"forward":0.7,"support":"D","com":[-0.59,-0.35,346.18],"links":{"base_link":[0.0,0.0,386.93],"L_hip_yaw_link":[62.5,0.0,406.93],"R_hip_yaw_link":[-62.5,0.0,406.93],"torso":[0.0,0.0,509.43],"neck_pan_link":[0.0,0.0,621.93],"head":[0.0,0.0,702.93],"L_hip_roll_link":[62.5,0.0,386.93],"L_shoulder_pitch_link":[90.0,0.0,586.93],"L_upper_arm":[90.0,0.0,514.38],"R_hip_roll_link":[-62.5,0.0,386.93],"R_shoulder_pitch_link":[-90.0,0.0,586.93],"R_upper_arm":[-90.0,0.0,514.38],"L_forearm":[133.0,0.0,369.37],"L_thigh":[62.5,-11.13,287.71],"L_shin":[62.5,-10.86,127.29],"L_hand":[133.0,0.0,271.91],"R_forearm":[-133.0,0.0,369.37],"R_thigh":[-62.5,-11.13,287.71],"R_shin":[-62.5,-10.86,127.29],"R_hand":[-133.0,0.0,271.91],"L_ankle_pitch_link":[62.5,-0.7,55.0],"L_foot":[62.5,-25.7,17.5],"L_gripper":[143.0,0.0,243.91],"R_ankle_pitch_link":[-62.5,-0.7,55.0],"R_foot":[-62.5,-25.7,17.5],"R_gripper":[-143.0,0.0,243.91]}},{"sample":80,"time":1.6,"margin":47.15,"clearance":0.0,"forward":0.7,"support":"D","com":[-0.58,-0.35,346.19],"links":{"base_link":[0.01,0.0,386.94],"L_hip_yaw_link":[62.51,0.0,406.94],"R_hip_yaw_link":[-62.49,0.0,406.94],"torso":[0.01,0.0,509.44],"neck_pan_link":[0.01,0.0,621.94],"head":[0.01,0.0,702.94],"L_hip_roll_link":[62.51,0.0,386.94],"L_shoulder_pitch_link":[90.01,0.0,586.94],"L_upper_arm":[90.01,0.0,514.38],"R_hip_roll_link":[-62.49,0.0,386.94],"R_shoulder_pitch_link":[-89.99,0.0,586.94],"R_upper_arm":[-90.0,0.0,514.38],"L_forearm":[133.01,0.0,369.37],"L_thigh":[62.51,-11.13,287.71],"L_shin":[62.5,-10.85,127.29],"L_hand":[133.02,0.0,271.92],"R_forearm":[-133.0,0.0,369.37],"R_thigh":[-62.49,-11.13,287.71],"R_shin":[-62.5,-10.85,127.29],"R_hand":[-133.0,0.0,271.92],"L_ankle_pitch_link":[62.5,-0.7,55.0],"L_foot":[62.5,-25.7,17.5],"L_gripper":[143.02,0.0,243.92],"R_ankle_pitch_link":[-62.5,-0.7,55.0],"R_foot":[-62.5,-25.7,17.5],"R_gripper":[-143.0,0.0,243.92]}},{"sample":85,"time":1.7,"margin":47.15,"clearance":0.0,"forward":0.7,"support":"D","com":[-0.55,-0.34,346.19],"links":{"base_link":[0.05,0.0,386.94],"L_hip_yaw_link":[62.55,0.0,406.94],"R_hip_yaw_link":[-62.45,0.0,406.94],"torso":[0.05,0.0,509.44],"neck_pan_link":[0.05,0.0,621.94],"head":[0.05,0.0,702.94],"L_hip_roll_link":[62.55,0.0,386.94],"L_shoulder_pitch_link":[90.05,0.0,586.94],"L_upper_arm":[90.07,0.0,514.39],"R_hip_roll_link":[-62.45,0.0,386.94],"R_shoulder_pitch_link":[-89.95,0.0,586.94],"R_upper_arm":[-89.96,0.0,514.39],"L_forearm":[133.1,0.0,369.39],"L_thigh":[62.54,-11.12,287.72],"L_shin":[62.51,-10.84,127.29],"L_hand":[133.13,0.0,271.93],"R_forearm":[-133.0,0.0,369.39],"R_thigh":[-62.46,-11.12,287.72],"R_shin":[-62.49,-10.84,127.29],"R_hand":[-133.02,0.0,271.93],"L_ankle_pitch_link":[62.5,-0.7,55.0],"L_foot":[62.5,-25.7,17.5],"L_gripper":[143.13,0.0,243.93],"R_ankle_pitch_link":[-62.5,-0.7,55.0],"R_foot":[-62.5,-25.7,17.5],"R_gripper":[-143.02,0.0,243.93]}},{"sample":90,"time":1.8,"margin":47.14,"clearance":0.0,"forward":0.69,"support":"D","com":[-0.45,-0.34,346.2],"links":{"base_link":[0.18,0.0,386.96],"L_hip_yaw_link":[62.68,0.0,406.96],"R_hip_yaw_link":[-62.32,0.0,406.96],"torso":[0.18,0.0,509.46],"neck_pan_link":[0.18,0.0,621.96],"head":[0.18,0.0,702.96],"L_hip_roll_link":[62.68,0.0,386.96],"L_shoulder_pitch_link":[90.18,0.0,586.96],"L_upper_arm":[90.23,0.0,514.4],"R_hip_roll_link":[-62.32,0.0,386.96],"R_shoulder_pitch_link":[-89.82,0.0,586.96],"R_upper_arm":[-89.88,0.0,514.4],"L_forearm":[133.34,0.0,369.42],"L_thigh":[62.63,-11.09,287.73],"L_shin":[62.54,-10.82,127.29],"L_hand":[133.41,0.0,271.97],"R_forearm":[-132.98,0.0,369.42],"R_thigh":[-62.37,-11.09,287.73],"R_shin":[-62.46,-10.82,127.29],"R_hand":[-133.06,0.0,271.97],"L_ankle_pitch_link":[62.5,-0.69,55.0],"L_foot":[62.49,-25.69,17.5],"L_gripper":[143.43,0.0,243.97],"R_ankle_pitch_link":[-62.5,-0.69,55.0],"R_foot":[-62.51,-25.69,17.5],"R_gripper":[-143.08,0.0,243.97]}},{"sample":95,"time":1.9,"margin":47.13,"clearance":-0.0,"forward":0.69,"support":"D","com":[-0.28,-0.32,346.23],"links":{"base_link":[0.4,0.0,386.98],"L_hip_yaw_link":[62.9,0.0,406.98],"R_hip_yaw_link":[-62.1,0.0,406.98],"torso":[0.4,0.0,509.48],"neck_pan_link":[0.4,0.0,621.98],"head":[0.4,0.0,702.98],"L_hip_roll_link":[62.9,0.0,386.98],"L_shoulder_pitch_link":[90.4,0.0,586.98],"L_upper_arm":[90.53,0.0,514.43],"R_hip_roll_link":[-62.1,0.0,386.98],"R_shoulder_pitch_link":[-89.6,0.0,586.98],"R_upper_arm":[-89.72,0.0,514.43],"L_forearm":[133.77,0.0,369.49],"L_thigh":[62.79,-11.04,287.75],"L_shin":[62.59,-10.77,127.3],"L_hand":[133.94,0.0,272.04],"R_forearm":[-132.96,0.0,369.49],"R_thigh":[-62.21,-11.04,287.75],"R_shin":[-62.41,-10.77,127.3],"R_hand":[-133.13,0.0,272.04],"L_ankle_pitch_link":[62.51,-0.69,55.0],"L_foot":[62.48,-25.69,17.5],"L_gripper":[143.99,0.0,244.05],"R_ankle_pitch_link":[-62.49,-0.69,55.0],"R_foot":[-62.52,-25.69,17.5],"R_gripper":[-143.18,0.0,244.05]}},{"sample":100,"time":2.0,"margin":47.11,"clearance":0.0,"forward":0.69,"support":"D","com":[-0.01,-0.3,346.27],"links":{"base_link":[0.76,0.0,387.03],"L_hip_yaw_link":[63.26,0.0,407.03],"R_hip_yaw_link":[-61.74,0.0,407.03],"torso":[0.76,0.0,509.53],"neck_pan_link":[0.76,0.0,622.03],"head":[0.76,0.0,703.03],"L_hip_roll_link":[63.26,0.0,387.03],"L_shoulder_pitch_link":[90.76,0.0,587.03],"L_upper_arm":[90.99,0.0,514.47],"R_hip_roll_link":[-61.74,0.0,387.03],"R_shoulder_pitch_link":[-89.24,0.0,587.03],"R_upper_arm":[-89.47,0.0,514.47],"L_forearm":[134.45,0.0,369.6],"L_thigh":[63.04,-10.97,287.78],"L_shin":[62.67,-10.69,127.31],"L_hand":[134.76,0.0,272.14],"R_forearm":[-132.93,0.0,369.6],"R_thigh":[-61.96,-10.97,287.78],"R_shin":[-62.33,-10.69,127.31],"R_hand":[-133.24,0.0,272.14],"L_ankle_pitch_link":[62.51,-0.69,55.0],"L_foot":[62.47,-25.69,17.5],"L_gripper":[144.85,0.0,244.18],"R_ankle_pitch_link":[-62.49,-0.69,55.0],"R_foot":[-62.53,-25.69,17.5],"R_gripper":[-143.33,0.0,244.18]}},{"sample":105,"time":2.1,"margin":47.09,"clearance":0.0,"forward":0.68,"support":"D","com":[0.37,-0.27,346.32],"links":{"base_link":[1.26,0.0,387.08],"L_hip_yaw_link":[63.76,0.0,407.08],"R_hip_yaw_link":[-61.24,0.0,407.08],"torso":[1.26,0.0,509.58],"neck_pan_link":[1.26,0.0,622.08],"head":[1.26,0.0,703.08],"L_hip_roll_link":[63.76,0.0,387.08],"L_shoulder_pitch_link":[91.26,0.0,587.08],"L_upper_arm":[91.64,0.0,514.53],"R_hip_roll_link":[-61.24,0.0,387.08],"R_shoulder_pitch_link":[-88.74,0.0,587.08],"R_upper_arm":[-89.12,0.0,514.53],"L_forearm":[135.41,0.0,369.75],"L_thigh":[63.39,-10.86,287.82],"L_shin":[62.79,-10.58,127.32],"L_hand":[135.92,0.0,272.29],"R_forearm":[-132.89,0.0,369.75],"R_thigh":[-61.61,-10.86,287.82],"R_shin":[-62.21,-10.58,127.32],"R_hand":[-133.4,0.0,272.29],"L_ankle_pitch_link":[62.52,-0.68,55.0],"L_foot":[62.44,-25.68,17.5],"L_gripper":[146.07,0.0,244.35],"R_ankle_pitch_link":[-62.48,-0.68,55.0],"R_foot":[-62.56,-25.68,17.5],"R_gripper":[-143.55,0.0,244.35]}},{"sample":110,"time":2.2,"margin":47.06,"clearance":0.0,"forward":0.67,"support":"D","com":[0.87,-0.23,346.39],"links":{"base_link":[1.92,0.0,387.16],"L_hip_yaw_link":[64.42,0.0,407.16],"R_hip_yaw_link":[-60.58,0.0,407.16],"torso":[1.92,0.0,509.66],"neck_pan_link":[1.92,0.0,622.16],"head":[1.92,0.0,703.16],"L_hip_roll_link":[64.42,0.0,387.16],"L_shoulder_pitch_link":[91.92,0.0,587.16],"L_upper_arm":[92.5,0.0,514.61],"R_hip_roll_link":[-60.58,0.0,387.16],"R_shoulder_pitch_link":[-88.08,0.0,587.16],"R_upper_arm":[-88.66,0.0,514.61],"L_forearm":[136.67,0.0,369.95],"L_thigh":[63.85,-10.71,287.88],"L_shin":[62.94,-10.44,127.34],"L_hand":[137.45,0.0,272.49],"R_forearm":[-132.83,0.0,369.95],"R_thigh":[-61.15,-10.71,287.88],"R_shin":[-62.06,-10.44,127.34],"R_hand":[-133.61,0.0,272.49],"L_ankle_pitch_link":[62.53,-0.67,55.0],"L_foot":[62.41,-25.67,17.5],"L_gripper":[147.68,0.0,244.58],"R_ankle_pitch_link":[-62.47,-0.67,55.0],"R_foot":[-62.59,-25.67,17.5],"R_gripper":[-143.84,0.0,244.58]}},{"sample":115,"time":2.3,"margin":47.02,"clearance":0.0,"forward":0.66,"support":"D","com":[1.5,-0.18,346.47],"links":{"base_link":[2.75,0.0,387.25],"L_hip_yaw_link":[65.25,0.0,407.25],"R_hip_yaw_link":[-59.75,0.0,407.25],"torso":[2.75,0.0,509.75],"neck_pan_link":[2.75,0.0,622.25],"head":[2.75,0.0,703.25],"L_hip_roll_link":[65.25,0.0,387.25],"L_shoulder_pitch_link":[92.75,0.0,587.25],"L_upper_arm":[93.58,0.0,514.7],"R_hip_roll_link":[-59.75,0.0,387.25],"R_shoulder_pitch_link":[-87.25,0.0,587.25],"R_upper_arm":[-88.09,0.0,514.7],"L_forearm":[138.25,0.0,370.2],"L_thigh":[64.44,-10.53,287.95],"L_shin":[63.13,-10.26,127.36],"L_hand":[139.37,0.0,272.74],"R_forearm":[-132.75,0.0,370.2],"R_thigh":[-60.56,-10.53,287.95],"R_shin":[-61.87,-10.26,127.36],"R_hand":[-133.88,0.0,272.74],"L_ankle_pitch_link":[62.54,-0.66,55.0],"L_foot":[62.38,-25.66,17.5],"L_gripper":[149.69,0.0,244.86],"R_ankle_pitch_link":[-62.46,-0.66,55.0],"R_foot":[-62.62,-25.66,17.5],"R_gripper":[-144.2,0.0,244.86]}},{"sample":120,"time":2.4,"margin":46.97,"clearance":0.0,"forward":0.64,"support":"D","com":[2.26,-0.12,346.56],"links":{"base_link":[3.75,0.0,387.35],"L_hip_yaw_link":[66.25,0.0,407.35],"R_hip_yaw_link":[-58.75,0.0,407.35],"torso":[3.75,0.0,509.85],"neck_pan_link":[3.75,0.0,622.35],"head":[3.75,0.0,703.35],"L_hip_roll_link":[66.25,0.0,387.35],"L_shoulder_pitch_link":[93.75,0.0,587.35],"L_upper_arm":[94.89,0.0,514.81],"R_hip_roll_link":[-58.75,0.0,387.35],"R_shoulder_pitch_link":[-86.25,0.0,587.35],"R_upper_arm":[-87.39,0.0,514.81],"L_forearm":[140.16,0.0,370.49],"L_thigh":[65.14,-10.3,288.03],"L_shin":[63.36,-10.05,127.39],"L_hand":[141.69,0.0,273.05],"R_forearm":[-132.66,0.0,370.49],"R_thigh":[-59.86,-10.3,288.03],"R_shin":[-61.64,-10.05,127.39],"R_hand":[-134.19,0.0,273.05],"L_ankle_pitch_link":[62.55,-0.64,55.0],"L_foot":[62.33,-25.64,17.5],"L_gripper":[152.13,0.0,245.21],"R_ankle_pitch_link":[-62.45,-0.64,55.0],"R_foot":[-62.67,-25.64,17.5],"R_gripper":[-144.63,0.0,245.21]}},{"sample":125,"time":2.5,"margin":46.92,"clearance":0.0,"forward":0.63,"support":"D","com":[3.15,-0.05,346.67],"links":{"base_link":[4.92,0.0,387.47],"L_hip_yaw_link":[67.42,0.0,407.47],"R_hip_yaw_link":[-57.58,0.0,407.47],"torso":[4.92,0.0,509.97],"neck_pan_link":[4.92,0.0,622.47],"head":[4.92,0.0,703.47],"L_hip_roll_link":[67.42,0.0,387.47],"L_shoulder_pitch_link":[94.92,0.0,587.47],"L_upper_arm":[96.42,0.0,514.93],"R_hip_roll_link":[-57.58,0.0,387.47],"R_shoulder_pitch_link":[-85.08,0.0,587.47],"R_upper_arm":[-86.57,0.0,514.93],"L_forearm":[142.4,0.0,370.84],"L_thigh":[65.97,-10.04,288.11],"L_shin":[63.62,-9.79,127.41],"L_hand":[144.4,0.0,273.4],"R_forearm":[-132.55,0.0,370.84],"R_thigh":[-59.03,-10.04,288.11],"R_shin":[-61.38,-9.79,127.41],"R_hand":[-134.56,0.0,273.4],"L_ankle_pitch_link":[62.57,-0.63,55.0],"L_foot":[62.27,-25.63,17.5],"L_gripper":[154.98,0.0,245.61],"R_ankle_pitch_link":[-62.43,-0.63,55.0],"R_foot":[-62.73,-25.63,17.5],"R_gripper":[-145.14,0.0,245.61]}},{"sample":130,"time":2.6,"margin":46.86,"clearance":0.0,"forward":0.61,"support":"D","com":[4.17,0.03,346.79],"links":{"base_link":[6.26,0.0,387.59],"L_hip_yaw_link":[68.76,0.0,407.59],"R_hip_yaw_link":[-56.24,0.0,407.59],"torso":[6.26,0.0,510.09],"neck_pan_link":[6.26,0.0,622.59],"head":[6.26,0.0,703.59],"L_hip_roll_link":[68.76,0.0,387.59],"L_shoulder_pitch_link":[96.26,0.0,587.59],"L_upper_arm":[98.17,0.0,515.06],"R_hip_roll_link":[-56.24,0.0,387.59],"R_shoulder_pitch_link":[-83.74,0.0,587.59],"R_upper_arm":[-85.64,0.0,515.06],"L_forearm":[144.96,0.0,371.23],"L_thigh":[66.92,-9.75,288.21],"L_shin":[63.93,-9.5,127.44],"L_hand":[147.51,0.0,273.81],"R_forearm":[-132.43,0.0,371.23],"R_thigh":[-58.08,-9.75,288.21],"R_shin":[-61.07,-9.5,127.44],"R_hand":[-134.99,0.0,273.81],"L_ankle_pitch_link":[62.58,-0.61,55.0],"L_foot":[62.21,-25.61,17.5],"L_gripper":[158.24,0.0,246.08],"R_ankle_pitch_link":[-62.42,-0.61,55.0],"R_foot":[-62.79,-25.61,17.5],"R_gripper":[-145.72,0.0,246.08]}},{"sample":135,"time":2.7,"margin":46.79,"clearance":0.0,"forward":0.59,"support":"D","com":[5.31,0.13,346.91],"links":{"base_link":[7.77,0.0,387.72],"L_hip_yaw_link":[70.27,0.0,407.72],"R_hip_yaw_link":[-54.73,0.0,407.72],"torso":[7.77,0.0,510.22],"neck_pan_link":[7.77,0.0,622.72],"head":[7.77,0.0,703.72],"L_hip_roll_link":[70.27,0.0,387.72],"L_shoulder_pitch_link":[97.77,0.0,587.72],"L_upper_arm":[100.13,0.0,515.2],"R_hip_roll_link":[-54.73,0.0,387.72],"R_shoulder_pitch_link":[-82.23,0.0,587.72],"R_upper_arm":[-84.59,0.0,515.2],"L_forearm":[147.83,0.0,371.67],"L_thigh":[67.98,-9.41,288.3],"L_shin":[64.27,-9.18,127.47],"L_hand":[151.0,0.0,274.26],"R_forearm":[-132.29,0.0,371.67],"R_thigh":[-57.02,-9.41,288.3],"R_shin":[-60.73,-9.18,127.47],"R_hand":[-135.46,0.0,274.26],"L_ankle_pitch_link":[62.6,-0.59,54.99],"L_foot":[62.14,-25.59,17.5],"L_gripper":[161.9,0.0,246.6],"R_ankle_pitch_link":[-62.4,-0.59,54.99],"R_foot":[-62.86,-25.59,17.5],"R_gripper":[-146.36,0.0,246.6]}},{"sample":140,"time":2.8,"margin":46.71,"clearance":0.0,"forward":0.57,"support":"D","com":[6.57,0.23,347.04],"links":{"base_link":[9.43,0.0,387.84],"L_hip_yaw_link":[71.93,0.0,407.84],"R_hip_yaw_link":[-53.07,0.0,407.84],"torso":[9.43,0.0,510.34],"neck_pan_link":[9.43,0.0,622.84],"head":[9.43,0.0,703.84],"L_hip_roll_link":[71.93,0.0,387.84],"L_shoulder_pitch_link":[99.43,0.0,587.84],"L_upper_arm":[102.29,0.0,515.35],"R_hip_roll_link":[-53.07,0.0,387.84],"R_shoulder_pitch_link":[-80.57,0.0,587.84],"R_upper_arm":[-83.44,0.0,515.35],"L_forearm":[150.99,0.0,372.15],"L_thigh":[69.15,-9.04,288.39],"L_shin":[64.64,-8.82,127.5],"L_hand":[154.83,0.0,274.76],"R_forearm":[-132.13,0.0,372.15],"R_thigh":[-55.85,-9.04,288.39],"R_shin":[-60.36,-8.82,127.5],"R_hand":[-135.98,0.0,274.76],"L_ankle_pitch_link":[62.61,-0.57,54.99],"L_foot":[62.06,-25.57,17.5],"L_gripper":[165.93,0.0,247.18],"R_ankle_pitch_link":[-62.39,-0.57,54.99],"R_foot":[-62.94,-25.57,17.5],"R_gripper":[-147.07,0.0,247.18]}},{"sample":145,"time":2.9,"margin":46.62,"clearance":0.0,"forward":0.54,"support":"D","com":[7.94,0.34,347.16],"links":{"base_link":[11.23,0.0,387.96],"L_hip_yaw_link":[73.73,0.0,407.96],"R_hip_yaw_link":[-51.27,0.0,407.96],"torso":[11.23,0.0,510.46],"neck_pan_link":[11.23,0.0,622.96],"head":[11.23,0.0,703.96],"L_hip_roll_link":[73.73,0.0,387.96],"L_shoulder_pitch_link":[101.23,0.0,587.96],"L_upper_arm":[104.64,0.0,515.49],"R_hip_roll_link":[-51.27,0.0,387.96],"R_shoulder_pitch_link":[-78.77,0.0,587.96],"R_upper_arm":[-82.18,0.0,515.49],"L_forearm":[154.41,0.0,372.66],"L_thigh":[70.41,-8.64,288.48],"L_shin":[65.05,-8.43,127.52],"L_hand":[159.0,0.0,275.31],"R_forearm":[-131.95,0.0,372.66],"R_thigh":[-54.59,-8.64,288.48],"R_shin":[-59.95,-8.43,127.52],"R_hand":[-136.54,0.0,275.31],"L_ankle_pitch_link":[62.63,-0.54,54.99],"L_foot":[61.96,-25.54,17.5],"L_gripper":[170.3,0.0,247.81],"R_ankle_pitch_link":[-62.37,-0.54,54.99],"R_foot":[-63.04,-25.54,17.5],"R_gripper":[-147.84,0.0,247.81]}},{"sample":150,"time":3.0,"margin":46.53,"clearance":0.0,"forward":0.51,"support":"D","com":[9.4,0.45,347.28],"links":{"base_link":[13.16,0.0,388.07],"L_hip_yaw_link":[75.66,0.0,408.07],"R_hip_yaw_link":[-49.34,0.0,408.07],"torso":[13.16,0.0,510.57],"neck_pan_link":[13.16,0.0,623.07],"head":[13.16,0.0,704.07],"L_hip_roll_link":[75.66,0.0,388.07],"L_shoulder_pitch_link":[103.16,0.0,588.07],"L_upper_arm":[107.16,0.0,515.62],"R_hip_roll_link":[-49.34,0.0,388.07],"R_shoulder_pitch_link":[-76.84,0.0,588.07],"R_upper_arm":[-80.84,0.0,515.62],"L_forearm":[158.08,0.0,373.2],"L_thigh":[71.77,-8.22,288.56],"L_shin":[65.48,-8.01,127.54],"L_hand":[163.45,0.0,275.89],"R_forearm":[-131.76,0.0,373.2],"R_thigh":[-53.23,-8.22,288.56],"R_shin":[-59.52,-8.01,127.54],"R_hand":[-137.13,0.0,275.89],"L_ankle_pitch_link":[62.65,-0.51,54.98],"L_foot":[61.87,-25.51,17.5],"L_gripper":[174.98,0.0,248.49],"R_ankle_pitch_link":[-62.35,-0.51,54.98],"R_foot":[-63.13,-25.51,17.5],"R_gripper":[-148.66,0.0,248.49]}},{"sample":155,"time":3.1,"margin":46.44,"clearance":0.0,"forward":0.49,"support":"D","com":[10.95,0.58,347.39],"links":{"base_link":[15.2,0.0,388.15],"L_hip_yaw_link":[77.7,0.0,408.15],"R_hip_yaw_link":[-47.3,0.0,408.15],"torso":[15.2,0.0,510.65],"neck_pan_link":[15.2,0.0,623.15],"head":[15.2,0.0,704.15],"L_hip_roll_link":[77.7,0.0,388.15],"L_shoulder_pitch_link":[105.2,0.0,588.15],"L_upper_arm":[109.81,0.0,515.75],"R_hip_roll_link":[-47.3,0.0,388.15],"R_shoulder_pitch_link":[-74.8,0.0,588.15],"R_upper_arm":[-79.42,0.0,515.75],"L_forearm":[161.95,0.0,373.77],"L_thigh":[73.21,-7.76,288.63],"L_shin":[65.94,-7.57,127.56],"L_hand":[168.15,0.0,276.51],"R_forearm":[-131.56,0.0,373.77],"R_thigh":[-51.79,-7.76,288.63],"R_shin":[-59.06,-7.57,127.56],"R_hand":[-137.76,0.0,276.51],"L_ankle_pitch_link":[62.66,-0.49,54.98],"L_foot":[61.76,-25.49,17.5],"L_gripper":[179.92,0.0,249.2],"R_ankle_pitch_link":[-62.34,-0.49,54.98],"R_foot":[-63.24,-25.49,17.5],"R_gripper":[-149.52,0.0,249.2]}},{"sample":160,"time":3.2,"margin":46.34,"clearance":0.0,"forward":0.46,"support":"D","com":[12.57,0.71,347.49],"links":{"base_link":[17.33,0.0,388.22],"L_hip_yaw_link":[79.83,0.0,408.22],"R_hip_yaw_link":[-45.17,0.0,408.22],"torso":[17.33,0.0,510.72],"neck_pan_link":[17.33,0.0,623.22],"head":[17.33,0.0,704.22],"L_hip_roll_link":[79.83,0.0,388.22],"L_shoulder_pitch_link":[107.33,0.0,588.22],"L_upper_arm":[112.59,0.0,515.86],"R_hip_roll_link":[-45.17,0.0,388.22],"R_shoulder_pitch_link":[-72.67,0.0,588.22],"R_upper_arm":[-77.93,0.0,515.86],"L_forearm":[166.0,0.0,374.35],"L_thigh":[74.71,-7.29,288.69],"L_shin":[66.42,-7.11,127.57],"L_hand":[173.07,0.0,277.15],"R_forearm":[-131.34,0.0,374.35],"R_thigh":[-50.29,-7.29,288.69],"R_shin":[-58.58,-7.11,127.57],"R_hand":[-138.4,0.0,277.15],"L_ankle_pitch_link":[62.68,-0.46,54.97],"L_foot":[61.65,-25.46,17.5],"L_gripper":[185.07,0.0,249.95],"R_ankle_pitch_link":[-62.32,-0.46,54.97],"R_foot":[-63.35,-25.46,17.5],"R_gripper":[-150.41,0.0,249.95]}},{"sample":165,"time":3.3,"margin":46.23,"clearance":0.0,"forward":0.42,"support":"D","com":[14.24,0.84,347.57],"links":{"base_link":[19.54,0.0,388.27],"L_hip_yaw_link":[82.04,0.0,408.27],"R_hip_yaw_link":[-42.96,0.0,408.27],"torso":[19.54,0.0,510.77],"neck_pan_link":[19.54,0.0,623.27],"head":[19.54,0.0,704.27],"L_hip_roll_link":[82.04,0.0,388.27],"L_shoulder_pitch_link":[109.54,0.0,588.27],"L_upper_arm":[115.47,0.0,515.96],"R_hip_roll_link":[-42.96,0.0,388.27],"R_shoulder_pitch_link":[-70.46,0.0,588.27],"R_upper_arm":[-76.39,0.0,515.96],"L_forearm":[170.18,0.0,374.95],"L_thigh":[76.26,-6.8,288.72],"L_shin":[66.91,-6.63,127.58],"L_hand":[178.14,0.0,277.81],"R_forearm":[-131.1,0.0,374.95],"R_thigh":[-48.74,-6.8,288.72],"R_shin":[-58.09,-6.63,127.58],"R_hand":[-139.07,0.0,277.81],"L_ankle_pitch_link":[62.69,-0.42,54.97],"L_foot":[61.54,-25.42,17.5],"L_gripper":[190.4,0.0,250.73],"R_ankle_pitch_link":[-62.31,-0.42,54.97],"R_foot":[-63.46,-25.42,17.5],"R_gripper":[-151.33,0.0,250.73]}},{"sample":170,"time":3.4,"margin":46.13,"clearance":0.0,"forward":0.39,"support":"D","com":[15.95,0.98,347.63],"links":{"base_link":[21.79,0.0,388.28],"L_hip_yaw_link":[84.29,0.0,408.28],"R_hip_yaw_link":[-40.71,0.0,408.28],"torso":[21.79,0.0,510.78],"neck_pan_link":[21.79,0.0,623.28],"head":[21.79,0.0,704.28],"L_hip_roll_link":[84.29,0.0,388.28],"L_shoulder_pitch_link":[111.79,0.0,588.28],"L_upper_arm":[118.41,0.0,516.03],"R_hip_roll_link":[-40.71,0.0,388.28],"R_shoulder_pitch_link":[-68.21,0.0,588.28],"R_upper_arm":[-74.82,0.0,516.03],"L_forearm":[174.45,0.0,375.55],"L_thigh":[77.85,-6.29,288.74],"L_shin":[67.41,-6.14,127.58],"L_hand":[183.33,0.0,278.49],"R_forearm":[-130.86,0.0,375.55],"R_thigh":[-47.15,-6.29,288.74],"R_shin":[-57.59,-6.14,127.58],"R_hand":[-139.75,0.0,278.49],"L_ankle_pitch_link":[62.71,-0.39,54.96],"L_foot":[61.42,-25.39,17.5],"L_gripper":[195.84,0.0,251.52],"R_ankle_pitch_link":[-62.29,-0.39,54.96],"R_foot":[-63.58,-25.39,17.5],"R_gripper":[-152.26,0.0,251.52]}},{"sample":175,"time":3.5,"margin":46.02,"clearance":0.0,"forward":0.36,"support":"D","com":[17.69,1.12,347.68],"links":{"base_link":[24.08,0.0,388.27],"L_hip_yaw_link":[86.58,0.0,408.27],"R_hip_yaw_link":[-38.42,0.0,408.27],"torso":[24.08,0.0,510.77],"neck_pan_link":[24.08,0.0,623.27],"head":[24.08,0.0,704.27],"L_hip_roll_link":[86.58,0.0,388.27],"L_shoulder_pitch_link":[114.08,0.0,588.27],"L_upper_arm":[121.39,0.0,516.09],"R_hip_roll_link":[-38.42,0.0,388.27],"R_shoulder_pitch_link":[-65.92,0.0,588.27],"R_upper_arm":[-73.22,0.0,516.09],"L_forearm":[178.77,0.0,376.14],"L_thigh":[79.46,-5.79,288.74],"L_shin":[67.92,-5.64,127.57],"L_hand":[188.59,0.0,279.18],"R_forearm":[-130.61,0.0,376.14],"R_thigh":[-45.54,-5.79,288.74],"R_shin":[-57.08,-5.64,127.57],"R_hand":[-140.42,0.0,279.18],"L_ankle_pitch_link":[62.72,-0.36,54.95],"L_foot":[61.3,-25.36,17.5],"L_gripper":[201.35,0.0,252.33],"R_ankle_pitch_link":[-62.28,-0.36,54.95],"R_foot":[-63.7,-25.36,17.5],"R_gripper":[-153.19,0.0,252.33]}},{"sample":180,"time":3.6,"margin":45.91,"clearance":0.0,"forward":0.33,"support":"D","com":[19.43,1.26,347.7],"links":{"base_link":[26.38,0.0,388.23],"L_hip_yaw_link":[88.88,0.0,408.23],"R_hip_yaw_link":[-36.12,0.0,408.23],"torso":[26.38,0.0,510.73],"neck_pan_link":[26.38,0.0,623.23],"head":[26.38,0.0,704.23],"L_hip_roll_link":[88.88,0.0,388.23],"L_shoulder_pitch_link":[116.38,0.0,588.23],"L_upper_arm":[124.38,0.0,516.12],"R_hip_roll_link":[-36.12,0.0,388.23],"R_shoulder_pitch_link":[-63.62,0.0,588.23],"R_upper_arm":[-71.62,0.0,516.12],"L_forearm":[183.11,0.0,376.73],"L_thigh":[81.07,-5.27,288.71],"L_shin":[68.43,-5.14,127.56],"L_hand":[193.85,0.0,279.87],"R_forearm":[-130.35,0.0,376.73],"R_thigh":[-43.93,-5.27,288.71],"R_shin":[-56.57,-5.14,127.56],"R_hand":[-141.1,0.0,279.87],"L_ankle_pitch_link":[62.74,-0.33,54.94],"L_foot":[61.18,-25.33,17.5],"L_gripper":[206.88,0.0,253.15],"R_ankle_pitch_link":[-62.26,-0.33,54.94],"R_foot":[-63.82,-25.33,17.5],"R_gripper":[-154.12,0.0,253.15]}},{"sample":185,"time":3.7,"margin":45.8,"clearance":0.0,"forward":0.3,"support":"D","com":[21.16,1.4,347.71],"links":{"base_link":[28.66,0.0,388.16],"L_hip_yaw_link":[91.16,0.0,408.16],"R_hip_yaw_link":[-33.84,0.0,408.16],"torso":[28.66,0.0,510.66],"neck_pan_link":[28.66,0.0,623.16],"head":[28.66,0.0,704.16],"L_hip_roll_link":[91.16,0.0,388.16],"L_shoulder_pitch_link":[118.66,0.0,588.16],"L_upper_arm":[127.35,0.0,516.13],"R_hip_roll_link":[-33.84,0.0,388.16],"R_shoulder_pitch_link":[-61.34,0.0,588.16],"R_upper_arm":[-70.03,0.0,516.13],"L_forearm":[187.41,0.0,377.31],"L_thigh":[82.68,-4.76,288.66],"L_shin":[68.94,-4.65,127.53],"L_hand":[199.08,0.0,280.56],"R_forearm":[-130.09,0.0,377.31],"R_thigh":[-42.32,-4.76,288.66],"R_shin":[-56.06,-4.65,127.53],"R_hand":[-141.76,0.0,280.56],"L_ankle_pitch_link":[62.75,-0.3,54.93],"L_foot":[61.06,-25.3,17.5],"L_gripper":[212.36,0.0,253.96],"R_ankle_pitch_link":[-62.25,-0.3,54.93],"R_foot":[-63.94,-25.3,17.5],"R_gripper":[-155.04,0.0,253.96]}},{"sample":190,"time":3.8,"margin":45.7,"clearance":0.0,"forward":0.27,"support":"D","com":[22.87,1.53,347.69],"links":{"base_link":[30.91,0.0,388.06],"L_hip_yaw_link":[93.41,0.0,408.06],"R_hip_yaw_link":[-31.59,0.0,408.06],"torso":[30.91,0.0,510.56],"neck_pan_link":[30.91,0.0,623.06],"head":[30.91,0.0,704.06],"L_hip_roll_link":[93.41,0.0,388.06],"L_shoulder_pitch_link":[120.91,0.0,588.06],"L_upper_arm":[130.28,0.0,516.12],"R_hip_roll_link":[-31.59,0.0,388.06],"R_shoulder_pitch_link":[-59.09,0.0,588.06],"R_upper_arm":[-68.46,0.0,516.12],"L_forearm":[191.64,0.0,377.87],"L_thigh":[84.26,-4.26,288.6],"L_shin":[69.45,-4.16,127.51],"L_hand":[204.22,0.0,281.23],"R_forearm":[-129.82,0.0,377.87],"R_thigh":[-40.74,-4.26,288.6],"R_shin":[-55.55,-4.16,127.51],"R_hand":[-142.4,0.0,281.23],"L_ankle_pitch_link":[62.77,-0.27,54.92],"L_foot":[60.94,-25.27,17.5],"L_gripper":[217.75,0.0,254.76],"R_ankle_pitch_link":[-62.23,-0.27,54.92],"R_foot":[-64.06,-25.27,17.5],"R_gripper":[-155.94,0.0,254.76]}},{"sample":195,"time":3.9,"margin":45.6,"clearance":0.0,"forward":0.24,"support":"D","com":[24.53,1.67,347.66],"links":{"base_link":[33.1,0.0,387.94],"L_hip_yaw_link":[95.6,0.0,407.94],"R_hip_yaw_link":[-29.4,0.0,407.94],"torso":[33.1,0.0,510.44],"neck_pan_link":[33.1,0.0,622.94],"head":[33.1,0.0,703.94],"L_hip_roll_link":[95.6,0.0,387.94],"L_shoulder_pitch_link":[123.1,0.0,587.94],"L_upper_arm":[133.13,0.0,516.08],"R_hip_roll_link":[-29.4,0.0,387.94],"R_shoulder_pitch_link":[-56.9,0.0,587.94],"R_upper_arm":[-66.93,0.0,516.08],"L_forearm":[195.76,0.0,378.41],"L_thigh":[85.8,-3.77,288.51],"L_shin":[69.94,-3.68,127.47],"L_hand":[209.23,0.0,281.89],"R_forearm":[-129.56,0.0,378.41],"R_thigh":[-39.2,-3.77,288.51],"R_shin":[-55.06,-3.68,127.47],"R_hand":[-143.03,0.0,281.89],"L_ankle_pitch_link":[62.79,-0.24,54.9],"L_foot":[60.83,-25.24,17.5],"L_gripper":[223.0,0.0,255.54],"R_ankle_pitch_link":[-62.21,-0.24,54.9],"R_foot":[-64.17,-25.24,17.5],"R_gripper":[-156.8,0.0,255.54]}},{"sample":200,"time":4.0,"margin":45.5,"clearance":0.0,"forward":0.21,"support":"D","com":[26.13,1.8,347.61],"links":{"base_link":[35.22,0.0,387.8],"L_hip_yaw_link":[97.72,0.0,407.8],"R_hip_yaw_link":[-27.28,0.0,407.8],"torso":[35.22,0.0,510.3],"neck_pan_link":[35.22,0.0,622.8],"head":[35.22,0.0,703.8],"L_hip_roll_link":[97.72,0.0,387.8],"L_shoulder_pitch_link":[125.22,0.0,587.8],"L_upper_arm":[135.88,0.0,516.03],"R_hip_roll_link":[-27.28,0.0,387.8],"R_shoulder_pitch_link":[-54.78,0.0,587.8],"R_upper_arm":[-65.45,0.0,516.03],"L_forearm":[199.73,0.0,378.92],"L_thigh":[87.29,-3.3,288.41],"L_shin":[70.41,-3.22,127.43],"L_hand":[214.05,0.0,282.52],"R_forearm":[-129.29,0.0,378.92],"R_thigh":[-37.71,-3.3,288.41],"R_shin":[-54.59,-3.22,127.43],"R_hand":[-143.62,0.0,282.52],"L_ankle_pitch_link":[62.8,-0.21,54.89],"L_foot":[60.72,-25.21,17.5],"L_gripper":[228.06,0.0,256.29],"R_ankle_pitch_link":[-62.2,-0.21,54.89],"R_foot":[-64.28,-25.21,17.5],"R_gripper":[-157.63,0.0,256.29]}},{"sample":205,"time":4.1,"margin":45.4,"clearance":0.0,"forward":0.18,"support":"D","com":[27.67,1.92,347.54],"links":{"base_link":[37.24,0.0,387.64],"L_hip_yaw_link":[99.74,0.0,407.64],"R_hip_yaw_link":[-25.26,0.0,407.64],"torso":[37.24,0.0,510.14],"neck_pan_link":[37.24,0.0,622.64],"head":[37.24,0.0,703.64],"L_hip_roll_link":[99.74,0.0,387.64],"L_shoulder_pitch_link":[127.24,0.0,587.64],"L_upper_arm":[138.51,0.0,515.96],"R_hip_roll_link":[-25.26,0.0,387.64],"R_shoulder_pitch_link":[-52.76,0.0,587.64],"R_upper_arm":[-64.03,0.0,515.96],"L_forearm":[203.51,0.0,379.39],"L_thigh":[88.72,-2.85,288.3],"L_shin":[70.87,-2.78,127.39],"L_hand":[218.65,0.0,283.12],"R_forearm":[-129.04,0.0,379.39],"R_thigh":[-36.28,-2.85,288.3],"R_shin":[-54.13,-2.78,127.39],"R_hand":[-144.18,0.0,283.12],"L_ankle_pitch_link":[62.82,-0.18,54.88],"L_foot":[60.62,-25.18,17.5],"L_gripper":[232.88,0.0,257.01],"R_ankle_pitch_link":[-62.18,-0.18,54.88],"R_foot":[-64.38,-25.18,17.5],"R_gripper":[-158.41,0.0,257.01]}},{"sample":210,"time":4.2,"margin":45.31,"clearance":0.0,"forward":0.15,"support":"D","com":[29.11,2.04,347.46],"links":{"base_link":[39.14,0.0,387.46],"L_hip_yaw_link":[101.64,0.0,407.46],"R_hip_yaw_link":[-23.36,0.0,407.46],"torso":[39.14,0.0,509.96],"neck_pan_link":[39.14,0.0,622.46],"head":[39.14,0.0,703.46],"L_hip_roll_link":[101.64,0.0,387.46],"L_shoulder_pitch_link":[129.14,0.0,587.46],"L_upper_arm":[140.98,0.0,515.88],"R_hip_roll_link":[-23.36,0.0,387.46],"R_shoulder_pitch_link":[-50.86,0.0,587.46],"R_upper_arm":[-62.7,0.0,515.88],"L_forearm":[207.07,0.0,379.84],"L_thigh":[90.06,-2.43,288.18],"L_shin":[71.3,-2.37,127.34],"L_hand":[222.98,0.0,283.69],"R_forearm":[-128.79,0.0,379.84],"R_thigh":[-34.94,-2.43,288.18],"R_shin":[-53.7,-2.37,127.34],"R_hand":[-144.7,0.0,283.69],"L_ankle_pitch_link":[62.84,-0.15,54.87],"L_foot":[60.52,-25.15,17.5],"L_gripper":[237.42,0.0,257.69],"R_ankle_pitch_link":[-62.16,-0.15,54.87],"R_foot":[-64.48,-25.15,17.5],"R_gripper":[-159.14,0.0,257.69]}},{"sample":215,"time":4.3,"margin":45.23,"clearance":0.0,"forward":0.13,"support":"D","com":[30.46,2.15,347.38],"links":{"base_link":[40.91,0.0,387.29],"L_hip_yaw_link":[103.41,0.0,407.29],"R_hip_yaw_link":[-21.59,0.0,407.29],"torso":[40.91,0.0,509.79],"neck_pan_link":[40.91,0.0,622.29],"head":[40.91,0.0,703.29],"L_hip_roll_link":[103.41,0.0,387.29],"L_shoulder_pitch_link":[130.91,0.0,587.29],"L_upper_arm":[143.29,0.0,515.8],"R_hip_roll_link":[-21.59,0.0,387.29],"R_shoulder_pitch_link":[-49.09,0.0,587.29],"R_upper_arm":[-61.46,0.0,515.8],"L_forearm":[210.39,0.0,380.24],"L_thigh":[91.31,-2.03,288.05],"L_shin":[71.7,-1.98,127.29],"L_hand":[227.01,0.0,284.21],"R_forearm":[-128.56,0.0,380.24],"R_thigh":[-33.69,-2.03,288.05],"R_shin":[-53.3,-1.98,127.29],"R_hand":[-145.18,0.0,284.21],"L_ankle_pitch_link":[62.86,-0.13,54.85],"L_foot":[60.44,-25.13,17.5],"L_gripper":[241.64,0.0,258.33],"R_ankle_pitch_link":[-62.14,-0.13,54.85],"R_foot":[-64.56,-25.13,17.5],"R_gripper":[-159.81,0.0,258.33]}},{"sample":220,"time":4.4,"margin":45.15,"clearance":0.0,"forward":0.1,"support":"D","com":[31.7,2.25,347.29],"links":{"base_link":[42.54,0.0,387.11],"L_hip_yaw_link":[105.04,0.0,407.11],"R_hip_yaw_link":[-19.96,0.0,407.11],"torso":[42.54,0.0,509.61],"neck_pan_link":[42.54,0.0,622.11],"head":[42.54,0.0,703.11],"L_hip_roll_link":[105.04,0.0,387.11],"L_shoulder_pitch_link":[132.54,0.0,587.11],"L_upper_arm":[145.41,0.0,515.7],"R_hip_roll_link":[-19.96,0.0,387.11],"R_shoulder_pitch_link":[-47.46,0.0,587.11],"R_upper_arm":[-60.32,0.0,515.7],"L_forearm":[213.43,0.0,380.61],"L_thigh":[92.46,-1.67,287.92],"L_shin":[72.07,-1.62,127.24],"L_hand":[230.71,0.0,284.7],"R_forearm":[-128.34,0.0,380.61],"R_thigh":[-32.54,-1.67,287.92],"R_shin":[-52.93,-1.62,127.24],"R_hand":[-145.62,0.0,284.7],"L_ankle_pitch_link":[62.88,-0.1,54.84],"L_foot":[60.36,-25.1,17.5],"L_gripper":[245.51,0.0,258.91],"R_ankle_pitch_link":[-62.12,-0.1,54.84],"R_foot":[-64.64,-25.1,17.5],"R_gripper":[-160.42,0.0,258.91]}},{"sample":225,"time":4.5,"margin":45.08,"clearance":0.0,"forward":0.08,"support":"D","com":[32.82,2.34,347.21],"links":{"base_link":[44.02,0.0,386.93],"L_hip_yaw_link":[106.52,0.0,406.93],"R_hip_yaw_link":[-18.48,0.0,406.93],"torso":[44.02,0.0,509.43],"neck_pan_link":[44.02,0.0,621.93],"head":[44.02,0.0,702.93],"L_hip_roll_link":[106.52,0.0,386.93],"L_shoulder_pitch_link":[134.02,0.0,586.93],"L_upper_arm":[147.32,0.0,515.61],"R_hip_roll_link":[-18.48,0.0,386.93],"R_shoulder_pitch_link":[-45.98,0.0,586.93],"R_upper_arm":[-59.28,0.0,515.61],"L_forearm":[216.18,0.0,380.94],"L_thigh":[93.5,-1.34,287.8],"L_shin":[72.4,-1.3,127.2],"L_hand":[234.05,0.0,285.14],"R_forearm":[-128.14,0.0,380.94],"R_thigh":[-31.5,-1.34,287.8],"R_shin":[-52.6,-1.3,127.2],"R_hand":[-146.01,0.0,285.14],"L_ankle_pitch_link":[62.9,-0.08,54.83],"L_foot":[60.29,-25.08,17.5],"L_gripper":[249.01,0.0,259.44],"R_ankle_pitch_link":[-62.1,-0.08,54.83],"R_foot":[-64.71,-25.08,17.5],"R_gripper":[-160.97,0.0,259.44]}},{"sample":230,"time":4.6,"margin":45.02,"clearance":0.0,"forward":0.07,"support":"D","com":[33.81,2.42,347.12],"links":{"base_link":[45.33,0.0,386.77],"L_hip_yaw_link":[107.83,0.0,406.77],"R_hip_yaw_link":[-17.17,0.0,406.77],"torso":[45.33,0.0,509.27],"neck_pan_link":[45.33,0.0,621.77],"head":[45.33,0.0,702.77],"L_hip_roll_link":[107.83,0.0,386.77],"L_shoulder_pitch_link":[135.33,0.0,586.77],"L_upper_arm":[149.02,0.0,515.52],"R_hip_roll_link":[-17.17,0.0,386.77],"R_shoulder_pitch_link":[-44.67,0.0,586.77],"R_upper_arm":[-58.37,0.0,515.52],"L_forearm":[218.62,0.0,381.23],"L_thigh":[94.42,-1.04,287.68],"L_shin":[72.7,-1.02,127.15],"L_hand":[237.01,0.0,285.52],"R_forearm":[-127.96,0.0,381.23],"R_thigh":[-30.58,-1.04,287.68],"R_shin":[-52.3,-1.02,127.15],"R_hand":[-146.35,0.0,285.52],"L_ankle_pitch_link":[62.91,-0.07,54.82],"L_foot":[60.23,-25.07,17.5],"L_gripper":[252.11,0.0,259.91],"R_ankle_pitch_link":[-62.09,-0.07,54.82],"R_foot":[-64.77,-25.07,17.5],"R_gripper":[-161.46,0.0,259.91]}},{"sample":235,"time":4.7,"margin":44.97,"clearance":0.0,"forward":0.05,"support":"D","com":[34.68,2.48,347.04],"links":{"base_link":[46.47,0.0,386.62],"L_hip_yaw_link":[108.97,0.0,406.62],"R_hip_yaw_link":[-16.03,0.0,406.62],"torso":[46.47,0.0,509.12],"neck_pan_link":[46.47,0.0,621.62],"head":[46.47,0.0,702.62],"L_hip_roll_link":[108.97,0.0,386.62],"L_shoulder_pitch_link":[136.47,0.0,586.62],"L_upper_arm":[150.5,0.0,515.43],"R_hip_roll_link":[-16.03,0.0,386.62],"R_shoulder_pitch_link":[-43.53,0.0,586.62],"R_upper_arm":[-57.57,0.0,515.43],"L_forearm":[220.73,0.0,381.48],"L_thigh":[95.22,-0.79,287.57],"L_shin":[72.96,-0.77,127.11],"L_hand":[239.58,0.0,285.86],"R_forearm":[-127.8,0.0,381.48],"R_thigh":[-29.78,-0.79,287.57],"R_shin":[-52.04,-0.77,127.11],"R_hand":[-146.65,0.0,285.86],"L_ankle_pitch_link":[62.93,-0.05,54.81],"L_foot":[60.18,-25.05,17.5],"L_gripper":[254.81,0.0,260.32],"R_ankle_pitch_link":[-62.07,-0.05,54.81],"R_foot":[-64.82,-25.05,17.5],"R_gripper":[-161.88,0.0,260.32]}},{"sample":240,"time":4.8,"margin":44.92,"clearance":0.0,"forward":0.04,"support":"D","com":[35.41,2.54,346.97],"links":{"base_link":[47.43,0.0,386.48],"L_hip_yaw_link":[109.93,0.0,406.48],"R_hip_yaw_link":[-15.07,0.0,406.48],"torso":[47.43,0.0,508.98],"neck_pan_link":[47.43,0.0,621.48],"head":[47.43,0.0,702.48],"L_hip_roll_link":[109.93,0.0,386.48],"L_shoulder_pitch_link":[137.43,0.0,586.48],"L_upper_arm":[151.75,0.0,515.36],"R_hip_roll_link":[-15.07,0.0,386.48],"R_shoulder_pitch_link":[-42.57,0.0,586.48],"R_upper_arm":[-56.89,0.0,515.36],"L_forearm":[222.53,0.0,381.69],"L_thigh":[95.91,-0.57,287.47],"L_shin":[73.18,-0.56,127.08],"L_hand":[241.76,0.0,286.15],"R_forearm":[-127.66,0.0,381.69],"R_thigh":[-29.09,-0.57,287.47],"R_shin":[-51.82,-0.56,127.08],"R_hand":[-146.9,0.0,286.15],"L_ankle_pitch_link":[62.94,-0.04,54.8],"L_foot":[60.14,-25.04,17.5],"L_gripper":[257.09,0.0,260.67],"R_ankle_pitch_link":[-62.06,-0.04,54.8],"R_foot":[-64.86,-25.04,17.5],"R_gripper":[-162.23,0.0,260.67]}},{"sample":245,"time":4.9,"margin":44.88,"clearance":0.0,"forward":0.02,"support":"D","com":[36.01,2.59,346.91],"links":{"base_link":[48.23,0.0,386.37],"L_hip_yaw_link":[110.73,0.0,406.37],"R_hip_yaw_link":[-14.27,0.0,406.37],"torso":[48.23,0.0,508.87],"neck_pan_link":[48.23,0.0,621.37],"head":[48.23,0.0,702.37],"L_hip_roll_link":[110.73,0.0,386.37],"L_shoulder_pitch_link":[138.23,0.0,586.37],"L_upper_arm":[152.78,0.0,515.29],"R_hip_roll_link":[-14.27,0.0,386.37],"R_shoulder_pitch_link":[-41.77,0.0,586.37],"R_upper_arm":[-56.33,0.0,515.29],"L_forearm":[224.0,0.0,381.86],"L_thigh":[96.47,-0.4,287.39],"L_shin":[73.36,-0.39,127.05],"L_hand":[243.56,0.0,286.38],"R_forearm":[-127.55,0.0,381.86],"R_thigh":[-28.53,-0.4,287.39],"R_shin":[-51.64,-0.39,127.05],"R_hand":[-147.1,0.0,286.38],"L_ankle_pitch_link":[62.95,-0.02,54.8],"L_foot":[60.1,-25.02,17.5],"L_gripper":[258.97,0.0,260.96],"R_ankle_pitch_link":[-62.05,-0.02,54.8],"R_foot":[-64.9,-25.02,17.5],"R_gripper":[-162.52,0.0,260.96]}},{"sample":250,"time":5.0,"margin":44.85,"clearance":0.0,"forward":0.02,"support":"D","com":[36.49,2.63,346.86],"links":{"base_link":[48.85,0.0,386.28],"L_hip_yaw_link":[111.35,0.0,406.28],"R_hip_yaw_link":[-13.65,0.0,406.28],"torso":[48.85,0.0,508.78],"neck_pan_link":[48.85,0.0,621.28],"head":[48.85,0.0,702.28],"L_hip_roll_link":[111.35,0.0,386.28],"L_shoulder_pitch_link":[138.85,0.0,586.28],"L_upper_arm":[153.6,0.0,515.24],"R_hip_roll_link":[-13.65,0.0,386.28],"R_shoulder_pitch_link":[-41.15,0.0,586.28],"R_upper_arm":[-55.89,0.0,515.24],"L_forearm":[225.17,0.0,381.99],"L_thigh":[96.91,-0.26,287.32],"L_shin":[73.51,-0.25,127.02],"L_hand":[244.97,0.0,286.57],"R_forearm":[-127.46,0.0,381.99],"R_thigh":[-28.09,-0.26,287.32],"R_shin":[-51.49,-0.25,127.02],"R_hand":[-147.27,0.0,286.57],"L_ankle_pitch_link":[62.96,-0.02,54.79],"L_foot":[60.08,-25.02,17.5],"L_gripper":[260.45,0.0,261.18],"R_ankle_pitch_link":[-62.04,-0.02,54.79],"R_foot":[-64.92,-25.02,17.5],"R_gripper":[-162.75,0.0,261.18]}},{"sample":255,"time":5.1,"margin":44.83,"clearance":0.0,"forward":0.01,"support":"D","com":[36.85,2.66,346.82],"links":{"base_link":[49.32,0.0,386.2],"L_hip_yaw_link":[111.82,0.0,406.2],"R_hip_yaw_link":[-13.18,0.0,406.2],"torso":[49.32,0.0,508.7],"neck_pan_link":[49.32,0.0,621.2],"head":[49.32,0.0,702.2],"L_hip_roll_link":[111.82,0.0,386.2],"L_shoulder_pitch_link":[139.32,0.0,586.2],"L_upper_arm":[154.21,0.0,515.19],"R_hip_roll_link":[-13.18,0.0,386.2],"R_shoulder_pitch_link":[-40.68,0.0,586.2],"R_upper_arm":[-55.56,0.0,515.19],"L_forearm":[226.04,0.0,382.09],"L_thigh":[97.24,-0.15,287.27],"L_shin":[73.62,-0.15,127.01],"L_hand":[246.03,0.0,286.7],"R_forearm":[-127.39,0.0,382.09],"R_thigh":[-27.76,-0.15,287.27],"R_shin":[-51.38,-0.15,127.01],"R_hand":[-147.38,0.0,286.7],"L_ankle_pitch_link":[62.97,-0.01,54.79],"L_foot":[60.06,-25.01,17.5],"L_gripper":[261.56,0.0,261.35],"R_ankle_pitch_link":[-62.03,-0.01,54.79],"R_foot":[-64.94,-25.01,17.5],"R_gripper":[-162.92,0.0,261.35]}},{"sample":260,"time":5.2,"margin":44.82,"clearance":0.0,"forward":0.0,"support":"D","com":[37.1,2.68,346.79],"links":{"base_link":[49.65,0.0,386.15],"L_hip_yaw_link":[112.15,0.0,406.15],"R_hip_yaw_link":[-12.85,0.0,406.15],"torso":[49.65,0.0,508.65],"neck_pan_link":[49.65,0.0,621.15],"head":[49.65,0.0,702.15],"L_hip_roll_link":[112.15,0.0,386.15],"L_shoulder_pitch_link":[139.65,0.0,586.15],"L_upper_arm":[154.63,0.0,515.17],"R_hip_roll_link":[-12.85,0.0,386.15],"R_shoulder_pitch_link":[-40.35,0.0,586.15],"R_upper_arm":[-55.33,0.0,515.17],"L_forearm":[226.65,0.0,382.16],"L_thigh":[97.47,-0.08,287.24],"L_shin":[73.69,-0.08,126.99],"L_hand":[246.77,0.0,286.8],"R_forearm":[-127.35,0.0,382.16],"R_thigh":[-27.53,-0.08,287.24],"R_shin":[-51.31,-0.08,126.99],"R_hand":[-147.47,0.0,286.8],"L_ankle_pitch_link":[62.98,-0.0,54.78],"L_foot":[60.04,-25.0,17.5],"L_gripper":[262.33,0.0,261.47],"R_ankle_pitch_link":[-62.02,-0.0,54.78],"R_foot":[-64.96,-25.0,17.5],"R_gripper":[-163.03,0.0,261.47]}},{"sample":265,"time":5.3,"margin":44.81,"clearance":0.0,"forward":0.0,"support":"D","com":[37.25,2.69,346.78],"links":{"base_link":[49.85,0.0,386.12],"L_hip_yaw_link":[112.35,0.0,406.12],"R_hip_yaw_link":[-12.65,0.0,406.12],"torso":[49.85,0.0,508.62],"neck_pan_link":[49.85,0.0,621.12],"head":[49.85,0.0,702.12],"L_hip_roll_link":[112.35,0.0,386.12],"L_shoulder_pitch_link":[139.85,0.0,586.12],"L_upper_arm":[154.9,0.0,515.15],"R_hip_roll_link":[-12.65,0.0,386.12],"R_shoulder_pitch_link":[-40.15,0.0,586.12],"R_upper_arm":[-55.19,0.0,515.15],"L_forearm":[227.02,0.0,382.2],"L_thigh":[97.62,-0.03,287.22],"L_shin":[73.74,-0.03,126.98],"L_hand":[247.23,0.0,286.86],"R_forearm":[-127.32,0.0,382.2],"R_thigh":[-27.38,-0.03,287.22],"R_shin":[-51.26,-0.03,126.98],"R_hand":[-147.52,0.0,286.86],"L_ankle_pitch_link":[62.98,-0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[262.82,0.0,261.54],"R_ankle_pitch_link":[-62.02,-0.0,54.78],"R_foot":[-64.97,-25.0,17.5],"R_gripper":[-163.11,0.0,261.54]}},{"sample":270,"time":5.4,"margin":44.8,"clearance":0.0,"forward":0.0,"support":"D","com":[37.33,2.7,346.77],"links":{"base_link":[49.96,0.0,386.11],"L_hip_yaw_link":[112.46,0.0,406.11],"R_hip_yaw_link":[-12.54,0.0,406.11],"torso":[49.96,0.0,508.61],"neck_pan_link":[49.96,0.0,621.11],"head":[49.96,0.0,702.11],"L_hip_roll_link":[112.46,0.0,386.11],"L_shoulder_pitch_link":[139.96,0.0,586.11],"L_upper_arm":[155.03,0.0,515.14],"R_hip_roll_link":[-12.54,0.0,386.11],"R_shoulder_pitch_link":[-40.04,0.0,586.11],"R_upper_arm":[-55.11,0.0,515.14],"L_forearm":[227.22,0.0,382.22],"L_thigh":[97.69,-0.01,287.2],"L_shin":[73.76,-0.01,126.98],"L_hand":[247.47,0.0,286.89],"R_forearm":[-127.3,0.0,382.22],"R_thigh":[-27.31,-0.01,287.2],"R_shin":[-51.24,-0.01,126.98],"R_hand":[-147.55,0.0,286.89],"L_ankle_pitch_link":[62.98,-0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[263.07,0.0,261.58],"R_ankle_pitch_link":[-62.02,-0.0,54.78],"R_foot":[-64.97,-25.0,17.5],"R_gripper":[-163.15,0.0,261.58]}},{"sample":275,"time":5.5,"margin":44.8,"clearance":0.0,"forward":0.0,"support":"D","com":[37.36,2.7,346.76],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[155.08,0.0,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-55.09,0.0,515.13],"L_forearm":[227.29,0.0,382.23],"L_thigh":[97.72,-0.0,287.2],"L_shin":[73.77,-0.0,126.98],"L_hand":[247.55,0.0,286.9],"R_forearm":[-127.29,0.0,382.23],"R_thigh":[-27.28,-0.0,287.2],"R_shin":[-51.23,-0.0,126.98],"R_hand":[-147.56,0.0,286.9],"L_ankle_pitch_link":[62.98,-0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[263.15,0.0,261.59],"R_ankle_pitch_link":[-62.02,-0.0,54.78],"R_foot":[-64.97,-25.0,17.5],"R_gripper":[-163.16,0.0,261.59]}},{"sample":279,"time":5.58,"margin":44.8,"clearance":0.0,"forward":-0.0,"support":"D","com":[37.36,2.7,346.76],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[155.08,0.0,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-55.08,0.0,515.13],"L_forearm":[227.29,0.0,382.23],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[247.56,0.0,286.9],"R_forearm":[-127.29,0.0,382.23],"R_thigh":[-27.28,0.0,287.2],"R_shin":[-51.23,0.0,126.98],"R_hand":[-147.56,0.0,286.9],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[263.16,0.0,261.59],"R_ankle_pitch_link":[-62.02,0.0,54.78],"R_foot":[-64.97,-25.0,17.5],"R_gripper":[-163.16,0.0,261.59]}},{"sample":280,"time":5.6,"margin":22.34,"clearance":0.0,"forward":0.0,"support":"L","com":[37.36,2.7,346.76],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[155.08,0.0,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-55.08,0.0,515.13],"L_forearm":[227.29,0.0,382.23],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[247.56,0.0,286.9],"R_forearm":[-127.29,0.0,382.23],"R_thigh":[-27.28,-0.0,287.2],"R_shin":[-51.23,-0.0,126.98],"R_hand":[-147.56,0.0,286.9],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[263.16,0.0,261.59],"R_ankle_pitch_link":[-62.02,-0.0,54.78],"R_foot":[-64.97,-25.0,17.5],"R_gripper":[-163.16,0.0,261.59]}},{"sample":285,"time":5.7,"margin":22.34,"clearance":0.0,"forward":0.0,"support":"L","com":[37.36,2.69,346.76],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[155.08,0.0,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-55.08,0.0,515.13],"L_forearm":[227.29,0.0,382.23],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[247.56,0.0,286.9],"R_forearm":[-127.29,0.0,382.23],"R_thigh":[-27.28,-0.08,287.2],"R_shin":[-51.23,-0.07,126.98],"R_hand":[-147.56,0.0,286.9],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[263.16,0.0,261.59],"R_ankle_pitch_link":[-62.02,-0.0,54.78],"R_foot":[-64.97,-25.0,17.5],"R_gripper":[-163.16,0.0,261.59]}},{"sample":290,"time":5.8,"margin":22.34,"clearance":0.0,"forward":0.03,"support":"L","com":[37.36,2.64,346.76],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[155.08,0.0,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-55.08,0.0,515.13],"L_forearm":[227.29,0.0,382.23],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[247.56,0.0,286.9],"R_forearm":[-127.29,0.0,382.23],"R_thigh":[-27.28,-0.42,287.2],"R_shin":[-51.23,-0.41,126.98],"R_hand":[-147.56,0.0,286.9],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[263.16,0.0,261.59],"R_ankle_pitch_link":[-62.02,-0.03,54.78],"R_foot":[-64.97,-25.03,17.5],"R_gripper":[-163.16,0.0,261.59]}},{"sample":295,"time":5.9,"margin":22.34,"clearance":0.03,"forward":0.07,"support":"L","com":[37.37,2.54,346.77],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[155.08,0.0,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-55.08,0.0,515.13],"L_forearm":[227.29,0.0,382.23],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[247.56,0.0,286.9],"R_forearm":[-127.29,0.0,382.23],"R_thigh":[-27.28,-1.15,287.21],"R_shin":[-51.22,-1.12,127.0],"R_hand":[-147.56,0.0,286.9],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[263.16,0.0,261.59],"R_ankle_pitch_link":[-62.01,-0.07,54.81],"R_foot":[-64.97,-25.07,17.53],"R_gripper":[-163.16,0.0,261.59]}},{"sample":300,"time":6.0,"margin":22.34,"clearance":0.13,"forward":0.14,"support":"L","com":[37.37,2.39,346.78],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[155.08,0.0,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-55.08,0.0,515.13],"L_forearm":[227.29,0.0,382.23],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[247.56,0.0,286.9],"R_forearm":[-127.29,0.0,382.23],"R_thigh":[-27.28,-2.31,287.23],"R_shin":[-51.21,-2.25,127.08],"R_hand":[-147.56,0.0,286.9],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[263.16,0.0,261.59],"R_ankle_pitch_link":[-62.0,-0.14,54.91],"R_foot":[-64.95,-25.14,17.63],"R_gripper":[-163.16,0.0,261.59]}},{"sample":305,"time":6.1,"margin":22.34,"clearance":0.36,"forward":0.24,"support":"L","com":[37.37,2.17,346.8],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[155.08,0.0,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-55.08,0.0,515.13],"L_forearm":[227.29,0.0,382.23],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[247.56,0.0,286.9],"R_forearm":[-127.29,0.0,382.23],"R_thigh":[-27.27,-3.85,287.29],"R_shin":[-51.18,-3.76,127.26],"R_hand":[-147.56,0.0,286.9],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[263.16,0.0,261.59],"R_ankle_pitch_link":[-61.96,-0.24,55.14],"R_foot":[-64.92,-25.24,17.86],"R_gripper":[-163.16,0.0,261.59]}},{"sample":310,"time":6.2,"margin":22.35,"clearance":0.79,"forward":0.36,"support":"L","com":[37.38,1.92,346.85],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[155.08,0.0,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-55.08,0.0,515.13],"L_forearm":[227.29,0.0,382.23],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[247.56,0.0,286.9],"R_forearm":[-127.29,0.0,382.23],"R_thigh":[-27.25,-5.7,287.4],"R_shin":[-51.14,-5.56,127.59],"R_hand":[-147.56,0.0,286.9],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[263.16,0.0,261.59],"R_ankle_pitch_link":[-61.9,-0.36,55.57],"R_foot":[-64.85,-25.36,18.29],"R_gripper":[-163.16,0.0,261.59]}},{"sample":315,"time":6.3,"margin":22.36,"clearance":1.46,"forward":0.48,"support":"L","com":[37.39,1.64,346.92],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[155.08,0.0,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-55.08,0.0,515.13],"L_forearm":[227.29,0.0,382.23],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[247.56,0.0,286.9],"R_forearm":[-127.29,0.0,382.23],"R_thigh":[-27.23,-7.74,287.57],"R_shin":[-51.06,-7.54,128.1],"R_hand":[-147.56,0.0,286.9],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[263.16,0.0,261.59],"R_ankle_pitch_link":[-61.8,-0.48,56.24],"R_foot":[-64.75,-25.48,18.96],"R_gripper":[-163.16,0.0,261.59]}},{"sample":320,"time":6.4,"margin":22.38,"clearance":2.35,"forward":0.61,"support":"L","com":[37.4,1.36,347.02],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[155.08,0.0,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-55.08,0.0,515.13],"L_forearm":[227.29,0.0,382.23],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[247.56,0.0,286.9],"R_forearm":[-127.29,0.0,382.23],"R_thigh":[-27.19,-9.81,287.8],"R_shin":[-50.96,-9.57,128.78],"R_hand":[-147.56,0.0,286.9],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[263.16,0.0,261.59],"R_ankle_pitch_link":[-61.66,-0.61,57.13],"R_foot":[-64.62,-25.61,19.85],"R_gripper":[-163.16,0.0,261.59]}},{"sample":325,"time":6.5,"margin":22.39,"clearance":3.39,"forward":0.74,"support":"L","com":[37.42,1.09,347.13],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[155.08,0.0,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-55.08,0.0,515.13],"L_forearm":[227.29,0.0,382.23],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[247.56,0.0,286.9],"R_forearm":[-127.29,0.0,382.23],"R_thigh":[-27.15,-11.78,288.06],"R_shin":[-50.84,-11.48,129.59],"R_hand":[-147.56,0.0,286.9],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[263.16,0.0,261.59],"R_ankle_pitch_link":[-61.51,-0.74,58.17],"R_foot":[-64.47,-25.74,20.89],"R_gripper":[-163.16,0.0,261.59]}},{"sample":330,"time":6.6,"margin":22.41,"clearance":4.47,"forward":0.84,"support":"L","com":[37.44,0.85,347.25],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[155.08,0.0,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-55.08,0.0,515.13],"L_forearm":[227.29,0.0,382.23],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[247.56,0.0,286.9],"R_forearm":[-127.29,0.0,382.23],"R_thigh":[-27.11,-13.5,288.33],"R_shin":[-50.71,-13.16,130.41],"R_hand":[-147.56,0.0,286.9],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[263.16,0.0,261.59],"R_ankle_pitch_link":[-61.35,-0.84,59.25],"R_foot":[-64.3,-25.84,21.97],"R_gripper":[-163.16,0.0,261.59]}},{"sample":335,"time":6.7,"margin":22.43,"clearance":5.43,"forward":0.93,"support":"L","com":[37.45,0.67,347.36],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[155.08,0.0,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-55.08,0.0,515.13],"L_forearm":[227.29,0.0,382.23],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[247.56,0.0,286.9],"R_forearm":[-127.29,0.0,382.23],"R_thigh":[-27.07,-14.87,288.58],"R_shin":[-50.6,-14.5,131.15],"R_hand":[-147.56,0.0,286.9],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[263.16,0.0,261.59],"R_ankle_pitch_link":[-61.2,-0.93,60.21],"R_foot":[-64.16,-25.93,22.93],"R_gripper":[-163.16,0.0,261.59]}},{"sample":340,"time":6.8,"margin":22.44,"clearance":6.17,"forward":0.99,"support":"L","com":[37.47,0.53,347.44],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[155.08,0.0,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-55.08,0.0,515.13],"L_forearm":[227.29,0.0,382.23],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[247.56,0.0,286.9],"R_forearm":[-127.29,0.0,382.23],"R_thigh":[-27.05,-15.84,288.77],"R_shin":[-50.52,-15.45,131.72],"R_hand":[-147.56,0.0,286.9],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[263.16,0.0,261.59],"R_ankle_pitch_link":[-61.09,-0.99,60.95],"R_foot":[-64.05,-25.99,23.67],"R_gripper":[-163.16,0.0,261.59]}},{"sample":345,"time":6.9,"margin":22.45,"clearance":6.62,"forward":1.02,"support":"L","com":[37.47,0.46,347.49],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[155.08,0.0,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-55.08,0.0,515.13],"L_forearm":[227.29,0.0,382.23],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[247.56,0.0,286.9],"R_forearm":[-127.29,0.0,382.23],"R_thigh":[-27.03,-16.4,288.88],"R_shin":[-50.47,-15.99,132.06],"R_hand":[-147.56,0.0,286.9],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[263.16,0.0,261.59],"R_ankle_pitch_link":[-61.03,-1.02,61.4],"R_foot":[-63.98,-26.02,24.12],"R_gripper":[-163.16,0.0,261.59]}},{"sample":350,"time":7.0,"margin":22.45,"clearance":6.79,"forward":1.04,"support":"L","com":[37.48,0.43,347.51],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[155.08,0.0,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-55.08,0.0,515.13],"L_forearm":[227.29,0.0,382.23],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[247.56,0.0,286.9],"R_forearm":[-127.29,0.0,382.23],"R_thigh":[-27.02,-16.61,288.92],"R_shin":[-50.45,-16.19,132.19],"R_hand":[-147.56,0.0,286.9],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[263.16,0.0,261.59],"R_ankle_pitch_link":[-61.0,-1.04,61.57],"R_foot":[-63.96,-26.04,24.29],"R_gripper":[-163.16,0.0,261.59]}},{"sample":354,"time":7.08,"margin":22.45,"clearance":6.81,"forward":1.04,"support":"L","com":[37.48,0.42,347.51],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[155.08,0.0,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-55.08,0.0,515.13],"L_forearm":[227.29,0.0,382.23],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[247.56,0.0,286.9],"R_forearm":[-127.29,0.0,382.23],"R_thigh":[-27.02,-16.63,288.93],"R_shin":[-50.44,-16.22,132.21],"R_hand":[-147.56,0.0,286.9],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[263.16,0.0,261.59],"R_ankle_pitch_link":[-61.0,-1.04,61.59],"R_foot":[-63.95,-26.04,24.31],"R_gripper":[-163.16,0.0,261.59]}},{"sample":355,"time":7.1,"margin":22.45,"clearance":6.81,"forward":1.04,"support":"L","com":[37.48,0.42,347.51],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[155.08,-0.0,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-55.08,0.0,515.13],"L_forearm":[227.29,-0.0,382.23],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[247.56,-0.0,286.9],"R_forearm":[-127.29,0.0,382.23],"R_thigh":[-27.02,-16.63,288.93],"R_shin":[-50.44,-16.22,132.21],"R_hand":[-147.56,0.0,286.9],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[263.16,-0.0,261.59],"R_ankle_pitch_link":[-61.0,-1.04,61.59],"R_foot":[-63.95,-26.04,24.31],"R_gripper":[-163.16,0.0,261.59]}},{"sample":360,"time":7.2,"margin":22.45,"clearance":6.84,"forward":1.22,"support":"L","com":[37.48,0.41,347.51],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[155.02,-0.07,515.12],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-55.02,0.07,515.12],"L_forearm":[227.1,-0.11,382.15],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[247.27,-0.08,286.8],"R_forearm":[-127.1,0.28,382.15],"R_thigh":[-27.02,-16.71,288.94],"R_shin":[-50.44,-16.39,132.24],"R_hand":[-147.27,0.48,286.8],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[262.85,-0.07,261.48],"R_ankle_pitch_link":[-60.99,-1.22,61.62],"R_foot":[-63.95,-26.22,24.34],"R_gripper":[-162.85,0.54,261.48]}},{"sample":365,"time":7.3,"margin":22.45,"clearance":6.97,"forward":2.06,"support":"L","com":[37.48,0.34,347.49],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[154.71,-0.37,515.06],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-54.71,0.37,515.06],"L_forearm":[226.22,-0.6,381.78],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[245.99,-0.46,286.35],"R_forearm":[-126.22,1.55,381.78],"R_thigh":[-27.01,-17.08,289.02],"R_shin":[-50.42,-17.17,132.38],"R_hand":[-145.99,2.68,286.36],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[261.46,-0.41,260.96],"R_ankle_pitch_link":[-60.97,-2.06,61.75],"R_foot":[-63.93,-27.06,24.47],"R_gripper":[-161.46,3.0,260.97]}},{"sample":370,"time":7.4,"margin":22.46,"clearance":7.26,"forward":3.84,"support":"L","com":[37.49,0.2,347.47],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[154.06,-1.02,514.93],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-54.06,1.02,514.93],"L_forearm":[224.35,-1.65,381.01],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[243.24,-1.27,285.4],"R_forearm":[-124.35,4.25,381.05],"R_thigh":[-26.98,-17.85,289.19],"R_shin":[-50.37,-18.84,132.7],"R_hand":[-143.24,7.38,285.49],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[258.47,-1.13,259.87],"R_ankle_pitch_link":[-60.93,-3.84,62.04],"R_foot":[-63.89,-28.84,24.76],"R_gripper":[-158.47,8.25,259.97]}},{"sample":375,"time":7.5,"margin":22.47,"clearance":7.76,"forward":6.64,"support":"L","com":[37.5,-0.03,347.44],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[153.03,-2.06,514.76],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-53.03,2.06,514.76],"L_forearm":[221.37,-3.34,379.86],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[238.87,-2.59,283.99],"R_forearm":[-121.37,8.55,380.01],"R_thigh":[-26.94,-19.07,289.48],"R_shin":[-50.29,-21.47,133.23],"R_hand":[-138.87,14.83,284.34],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[253.73,-2.32,258.24],"R_ankle_pitch_link":[-60.86,-6.64,62.54],"R_foot":[-63.81,-31.64,25.26],"R_gripper":[-153.73,16.58,258.65]}},{"sample":380,"time":7.6,"margin":22.49,"clearance":8.48,"forward":10.38,"support":"L","com":[37.52,-0.34,347.44],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[151.65,-3.45,514.57],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-51.65,3.45,514.57],"L_forearm":[217.35,-5.65,378.42],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[232.97,-4.41,282.24],"R_forearm":[-117.35,14.36,378.84],"R_thigh":[-26.88,-20.69,289.89],"R_shin":[-50.18,-24.98,134.0],"R_hand":[-132.97,24.84,283.22],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[247.33,-3.98,256.2],"R_ankle_pitch_link":[-60.75,-10.38,63.26],"R_foot":[-63.7,-35.38,25.98],"R_gripper":[-147.33,27.77,257.35]}},{"sample":385,"time":7.7,"margin":22.51,"clearance":9.44,"forward":14.83,"support":"L","com":[37.54,-0.7,347.47],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[149.99,-5.12,514.42],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-49.99,5.12,514.42],"L_forearm":[212.5,-8.48,376.88],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[225.86,-6.68,280.36],"R_forearm":[-112.5,21.36,377.8],"R_thigh":[-26.8,-22.63,290.43],"R_shin":[-50.02,-29.16,135.02],"R_hand":[-125.86,36.88,282.52],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[239.6,-6.06,254.01],"R_ankle_pitch_link":[-60.6,-14.83,64.22],"R_foot":[-63.56,-39.83,26.94],"R_gripper":[-139.6,41.24,256.52]}},{"sample":390,"time":7.8,"margin":22.54,"clearance":10.61,"forward":19.7,"support":"L","com":[37.56,-1.1,347.57],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[148.15,-6.97,514.34],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-48.15,6.97,514.34],"L_forearm":[207.11,-11.68,375.41],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[217.97,-9.26,278.59],"R_forearm":[-107.11,29.1,377.11],"R_thigh":[-26.7,-24.74,291.08],"R_shin":[-49.84,-33.73,136.24],"R_hand":[-117.97,50.12,282.56],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[231.03,-8.46,251.9],"R_ankle_pitch_link":[-60.43,-19.7,65.39],"R_foot":[-63.39,-44.7,28.11],"R_gripper":[-131.03,56.05,256.52]}},{"sample":395,"time":7.9,"margin":22.57,"clearance":11.93,"forward":24.64,"support":"L","com":[37.59,-1.5,347.72],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[146.27,-8.86,514.36],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-46.27,8.86,514.36],"L_forearm":[201.56,-15.01,374.16],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[209.88,-11.97,277.1],"R_forearm":[-101.56,37.03,376.88],"R_thigh":[-26.59,-26.88,291.8],"R_shin":[-49.64,-38.35,137.62],"R_hand":[-109.88,63.6,283.48],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[222.23,-10.99,250.08],"R_ankle_pitch_link":[-60.23,-24.64,66.71],"R_foot":[-63.19,-49.64,29.43],"R_gripper":[-122.23,71.13,257.51]}},{"sample":400,"time":8.0,"margin":22.6,"clearance":13.29,"forward":29.3,"support":"L","com":[37.62,-1.89,347.92],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[144.47,-10.66,514.47],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-44.47,10.66,514.47],"L_forearm":[196.26,-18.23,373.2],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[202.17,-14.61,275.99],"R_forearm":[-96.26,44.55,377.11],"R_thigh":[-26.48,-28.89,292.54],"R_shin":[-49.42,-42.71,139.04],"R_hand":[-102.17,76.32,285.17],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[213.85,-13.47,248.67],"R_ankle_pitch_link":[-60.03,-29.3,68.07],"R_foot":[-62.99,-54.3,30.79],"R_gripper":[-113.85,85.36,259.37]}},{"sample":405,"time":8.1,"margin":22.63,"clearance":14.58,"forward":33.36,"support":"L","com":[37.65,-2.23,348.14],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[142.89,-12.23,514.64],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-42.89,12.23,514.64],"L_forearm":[191.58,-21.09,372.54],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[195.38,-16.95,275.25],"R_forearm":[-91.58,51.14,377.69],"R_thigh":[-26.38,-30.64,293.23],"R_shin":[-49.22,-46.51,140.38],"R_hand":[-95.38,87.41,287.31],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[206.47,-15.7,247.69],"R_ankle_pitch_link":[-59.84,-33.36,69.36],"R_foot":[-62.79,-58.36,32.08],"R_gripper":[-106.47,97.76,261.74]}},{"sample":410,"time":8.2,"margin":22.65,"clearance":15.67,"forward":36.59,"support":"L","com":[37.68,-2.49,348.35],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[141.63,-13.49,514.83],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-41.63,13.49,514.83],"L_forearm":[187.82,-23.4,372.15],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[189.95,-18.84,274.82],"R_forearm":[-87.82,56.39,378.39],"R_thigh":[-26.29,-32.04,293.82],"R_shin":[-49.05,-49.54,141.51],"R_hand":[-89.95,96.19,289.46],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[200.56,-17.49,247.08],"R_ankle_pitch_link":[-59.67,-36.59,70.45],"R_foot":[-62.63,-61.59,33.17],"R_gripper":[-100.56,107.59,264.13]}},{"sample":415,"time":8.3,"margin":22.67,"clearance":16.48,"forward":38.86,"support":"L","com":[37.7,-2.68,348.51],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[140.73,-14.37,514.99],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-40.73,14.37,514.99],"L_forearm":[185.17,-25.04,371.94],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[186.12,-20.18,274.61],"R_forearm":[-85.17,60.07,379.01],"R_thigh":[-26.23,-33.01,294.25],"R_shin":[-48.93,-51.65,142.34],"R_hand":[-86.12,102.33,291.2],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[196.4,-18.77,246.74],"R_ankle_pitch_link":[-59.55,-38.86,71.26],"R_foot":[-62.51,-63.86,33.98],"R_gripper":[-96.4,114.45,266.07]}},{"sample":420,"time":8.4,"margin":22.68,"clearance":16.95,"forward":40.16,"support":"L","com":[37.71,-2.79,348.61],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[140.22,-14.87,515.09],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-40.22,14.87,515.09],"L_forearm":[183.65,-25.98,371.84],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[183.93,-20.95,274.51],"R_forearm":[-83.65,62.18,379.42],"R_thigh":[-26.19,-33.57,294.5],"R_shin":[-48.86,-52.87,142.83],"R_hand":[-83.93,105.83,292.29],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[194.01,-19.5,246.58],"R_ankle_pitch_link":[-59.48,-40.16,71.73],"R_foot":[-62.44,-65.16,34.45],"R_gripper":[-94.01,118.37,267.29]}},{"sample":425,"time":8.5,"margin":22.68,"clearance":17.14,"forward":40.65,"support":"L","com":[37.71,-2.84,348.65],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[140.02,-15.06,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-40.02,15.06,515.13],"L_forearm":[183.06,-26.34,371.81],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[183.09,-21.25,274.49],"R_forearm":[-83.06,62.98,379.59],"R_thigh":[-26.17,-33.79,294.6],"R_shin":[-48.83,-53.33,143.02],"R_hand":[-83.09,107.16,292.72],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[193.1,-19.78,246.53],"R_ankle_pitch_link":[-59.46,-40.65,71.92],"R_foot":[-62.41,-65.65,34.64],"R_gripper":[-93.1,119.86,267.77]}},{"sample":429,"time":8.58,"margin":22.68,"clearance":17.16,"forward":40.7,"support":"L","com":[37.71,-2.84,348.65],"links":{"base_link":[50.0,0.0,386.1],"L_hip_yaw_link":[112.5,0.0,406.1],"R_hip_yaw_link":[-12.5,0.0,406.1],"torso":[50.0,0.0,508.6],"neck_pan_link":[50.0,0.0,621.1],"head":[50.0,0.0,702.1],"L_hip_roll_link":[112.5,0.0,386.1],"L_shoulder_pitch_link":[140.0,0.0,586.1],"L_upper_arm":[140.0,-15.08,515.13],"R_hip_roll_link":[-12.5,0.0,386.1],"R_shoulder_pitch_link":[-40.0,0.0,586.1],"R_upper_arm":[-40.0,15.08,515.13],"L_forearm":[183.0,-26.38,371.81],"L_thigh":[97.72,0.0,287.2],"L_shin":[73.77,0.0,126.98],"L_hand":[183.0,-21.28,274.48],"R_forearm":[-83.0,63.06,379.6],"R_thigh":[-26.17,-33.81,294.61],"R_shin":[-48.83,-53.38,143.04],"R_hand":[-83.0,107.31,292.77],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[193.0,-19.81,246.52],"R_ankle_pitch_link":[-59.45,-40.7,71.94],"R_foot":[-62.41,-65.7,34.66],"R_gripper":[-93.0,120.02,267.82]}},{"sample":430,"time":8.6,"margin":22.68,"clearance":17.15,"forward":40.7,"support":"L","com":[37.71,-2.84,348.65],"links":{"base_link":[50.0,-0.0,386.1],"L_hip_yaw_link":[112.5,-0.0,406.1],"R_hip_yaw_link":[-12.5,-0.0,406.1],"torso":[50.0,-0.0,508.6],"neck_pan_link":[50.0,-0.0,621.1],"head":[50.0,-0.0,702.1],"L_hip_roll_link":[112.5,-0.0,386.1],"L_shoulder_pitch_link":[140.0,-0.0,586.1],"L_upper_arm":[140.0,-15.08,515.13],"R_hip_roll_link":[-12.5,-0.0,386.1],"R_shoulder_pitch_link":[-40.0,-0.0,586.1],"R_upper_arm":[-40.0,15.08,515.13],"L_forearm":[183.0,-26.38,371.81],"L_thigh":[97.72,-0.0,287.2],"L_shin":[73.77,-0.0,126.98],"L_hand":[183.0,-21.28,274.48],"R_forearm":[-83.0,63.06,379.6],"R_thigh":[-26.17,-33.81,294.61],"R_shin":[-48.83,-53.38,143.04],"R_hand":[-83.0,107.31,292.77],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[193.0,-19.81,246.52],"R_ankle_pitch_link":[-59.45,-40.7,71.94],"R_foot":[-62.41,-65.7,34.65],"R_gripper":[-93.0,120.02,267.82]}},{"sample":435,"time":8.7,"margin":22.68,"clearance":17.1,"forward":40.71,"support":"L","com":[37.71,-2.86,348.65],"links":{"base_link":[50.0,-0.03,386.1],"L_hip_yaw_link":[112.5,-0.03,406.1],"R_hip_yaw_link":[-12.5,-0.03,406.1],"torso":[50.0,-0.03,508.6],"neck_pan_link":[50.0,-0.03,621.1],"head":[50.0,-0.03,702.1],"L_hip_roll_link":[112.5,-0.03,386.1],"L_shoulder_pitch_link":[140.0,-0.03,586.1],"L_upper_arm":[140.02,-15.11,515.13],"R_hip_roll_link":[-12.5,-0.03,386.1],"R_shoulder_pitch_link":[-40.0,-0.03,586.1],"R_upper_arm":[-40.02,15.04,515.13],"L_forearm":[183.07,-26.41,371.82],"L_thigh":[97.72,-0.02,287.2],"L_shin":[73.77,-0.01,126.98],"L_hand":[183.1,-21.34,274.49],"R_forearm":[-83.07,62.98,379.6],"R_thigh":[-26.18,-33.8,294.59],"R_shin":[-48.83,-53.36,142.99],"R_hand":[-83.1,107.18,292.74],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[193.11,-19.89,246.53],"R_ankle_pitch_link":[-59.46,-40.71,71.88],"R_foot":[-62.42,-65.71,34.6],"R_gripper":[-93.11,119.87,267.79]}},{"sample":440,"time":8.8,"margin":22.68,"clearance":16.87,"forward":40.72,"support":"L","com":[37.7,-2.98,348.61],"links":{"base_link":[50.0,-0.19,386.1],"L_hip_yaw_link":[112.5,-0.19,406.1],"R_hip_yaw_link":[-12.5,-0.19,406.1],"torso":[50.0,-0.19,508.6],"neck_pan_link":[50.0,-0.19,621.1],"head":[50.0,-0.19,702.1],"L_hip_roll_link":[112.5,-0.19,386.1],"L_shoulder_pitch_link":[140.0,-0.19,586.1],"L_upper_arm":[140.14,-15.22,515.12],"R_hip_roll_link":[-12.5,-0.19,386.1],"R_shoulder_pitch_link":[-40.0,-0.19,586.1],"R_upper_arm":[-40.14,14.85,515.12],"L_forearm":[183.42,-26.58,371.86],"L_thigh":[97.72,-0.14,287.2],"L_shin":[73.77,-0.04,126.98],"L_hand":[183.6,-21.65,274.53],"R_forearm":[-83.42,62.57,379.57],"R_thigh":[-26.19,-33.74,294.5],"R_shin":[-48.87,-53.24,142.78],"R_hand":[-83.6,106.55,292.6],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[193.65,-20.23,246.59],"R_ankle_pitch_link":[-59.5,-40.72,71.65],"R_foot":[-62.45,-65.72,34.37],"R_gripper":[-93.65,119.18,267.63]}},{"sample":445,"time":8.9,"margin":22.67,"clearance":16.34,"forward":40.76,"support":"L","com":[37.69,-3.23,348.54],"links":{"base_link":[50.0,-0.53,386.1],"L_hip_yaw_link":[112.5,-0.53,406.1],"R_hip_yaw_link":[-12.5,-0.53,406.1],"torso":[50.0,-0.53,508.6],"neck_pan_link":[50.0,-0.53,621.1],"head":[50.0,-0.53,702.1],"L_hip_roll_link":[112.5,-0.53,386.1],"L_shoulder_pitch_link":[140.0,-0.53,586.1],"L_upper_arm":[140.4,-15.48,515.11],"R_hip_roll_link":[-12.5,-0.53,386.1],"R_shoulder_pitch_link":[-40.0,-0.53,586.1],"R_upper_arm":[-40.4,14.43,515.11],"L_forearm":[184.19,-26.96,371.97],"L_thigh":[97.72,-0.39,287.2],"L_shin":[73.77,-0.12,126.98],"L_hand":[184.71,-22.35,274.62],"R_forearm":[-84.19,61.66,379.5],"R_thigh":[-26.22,-33.62,294.29],"R_shin":[-48.94,-52.99,142.3],"R_hand":[-84.71,105.14,292.28],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[194.86,-21.02,246.71],"R_ankle_pitch_link":[-59.57,-40.76,71.12],"R_foot":[-62.53,-65.76,33.84],"R_gripper":[-94.86,117.62,267.28]}},{"sample":450,"time":9.0,"margin":22.65,"clearance":15.47,"forward":40.82,"support":"L","com":[37.68,-3.66,348.42],"links":{"base_link":[50.0,-1.1,386.1],"L_hip_yaw_link":[112.5,-1.1,406.1],"R_hip_yaw_link":[-12.5,-1.1,406.1],"torso":[50.0,-1.1,508.6],"neck_pan_link":[50.0,-1.1,621.1],"head":[50.0,-1.1,702.1],"L_hip_roll_link":[112.5,-1.1,386.1],"L_shoulder_pitch_link":[140.0,-1.1,586.1],"L_upper_arm":[140.84,-15.91,515.08],"R_hip_roll_link":[-12.5,-1.1,386.1],"R_shoulder_pitch_link":[-40.0,-1.1,586.1],"R_upper_arm":[-40.84,13.71,515.08],"L_forearm":[185.48,-27.59,372.15],"L_thigh":[97.72,-0.82,287.2],"L_shin":[73.77,-0.25,126.98],"L_hand":[186.57,-23.52,274.79],"R_forearm":[-85.48,60.13,379.4],"R_thigh":[-26.27,-33.42,293.94],"R_shin":[-49.05,-52.55,141.51],"R_hand":[-86.57,102.78,291.78],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[196.88,-22.33,246.93],"R_ankle_pitch_link":[-59.7,-40.82,70.25],"R_foot":[-62.66,-65.82,32.97],"R_gripper":[-96.88,115.01,266.71]}},{"sample":455,"time":9.1,"margin":22.63,"clearance":14.27,"forward":40.89,"support":"L","com":[37.65,-4.26,348.26],"links":{"base_link":[50.0,-1.93,386.09],"L_hip_yaw_link":[112.5,-1.93,406.09],"R_hip_yaw_link":[-12.5,-1.93,406.09],"torso":[50.0,-1.93,508.59],"neck_pan_link":[50.0,-1.93,621.09],"head":[50.0,-1.93,702.09],"L_hip_roll_link":[112.5,-1.93,386.09],"L_shoulder_pitch_link":[140.0,-1.93,586.09],"L_upper_arm":[141.46,-16.53,515.04],"R_hip_roll_link":[-12.5,-1.93,386.09],"R_shoulder_pitch_link":[-40.0,-1.93,586.09],"R_upper_arm":[-41.46,12.68,515.04],"L_forearm":[187.34,-28.5,372.44],"L_thigh":[97.72,-1.44,287.19],"L_shin":[73.77,-0.45,126.98],"L_hand":[189.25,-25.2,275.05],"R_forearm":[-87.34,57.92,379.27],"R_thigh":[-26.35,-33.11,293.45],"R_shin":[-49.22,-51.91,140.42],"R_hand":[-89.25,99.37,291.09],"L_ankle_pitch_link":[62.98,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[199.79,-24.21,247.27],"R_ankle_pitch_link":[-59.88,-40.89,69.05],"R_foot":[-62.84,-65.89,31.77],"R_gripper":[-99.79,111.24,265.95]}},{"sample":460,"time":9.2,"margin":22.6,"clearance":12.78,"forward":40.96,"support":"L","com":[37.63,-5.05,348.06],"links":{"base_link":[50.0,-2.99,386.09],"L_hip_yaw_link":[112.5,-2.99,406.09],"R_hip_yaw_link":[-12.5,-2.99,406.09],"torso":[50.0,-2.99,508.59],"neck_pan_link":[50.0,-2.99,621.09],"head":[50.0,-2.99,702.09],"L_hip_roll_link":[112.5,-2.99,386.09],"L_shoulder_pitch_link":[140.0,-2.99,586.09],"L_upper_arm":[142.28,-17.33,515.0],"R_hip_roll_link":[-12.5,-2.99,386.09],"R_shoulder_pitch_link":[-40.0,-2.99,586.09],"R_upper_arm":[-42.28,11.34,515.0],"L_forearm":[189.75,-29.68,372.83],"L_thigh":[97.72,-2.23,287.19],"L_shin":[73.78,-0.69,126.98],"L_hand":[192.73,-27.37,275.45],"R_forearm":[-89.75,55.05,379.16],"R_thigh":[-26.44,-32.71,292.84],"R_shin":[-49.42,-51.07,139.06],"R_hand":[-92.73,94.92,290.28],"L_ankle_pitch_link":[62.99,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[203.58,-26.65,247.78],"R_ankle_pitch_link":[-60.1,-40.96,67.56],"R_foot":[-63.06,-65.96,30.28],"R_gripper":[-103.58,106.31,265.05]}},{"sample":465,"time":9.3,"margin":22.56,"clearance":11.08,"forward":41.02,"support":"L","com":[37.59,-6.0,347.83],"links":{"base_link":[50.0,-4.29,386.07],"L_hip_yaw_link":[112.5,-4.29,406.07],"R_hip_yaw_link":[-12.5,-4.29,406.07],"torso":[50.0,-4.29,508.57],"neck_pan_link":[50.0,-4.29,621.07],"head":[50.0,-4.29,702.07],"L_hip_roll_link":[112.5,-4.29,386.07],"L_shoulder_pitch_link":[140.0,-4.29,586.07],"L_upper_arm":[143.26,-18.3,514.96],"R_hip_roll_link":[-12.5,-4.29,386.07],"R_shoulder_pitch_link":[-40.0,-4.29,586.07],"R_upper_arm":[-43.26,9.72,514.96],"L_forearm":[192.66,-31.11,373.36],"L_thigh":[97.72,-3.2,287.18],"L_shin":[73.78,-0.99,126.97],"L_hand":[196.94,-30.0,276.0],"R_forearm":[-92.66,51.56,379.07],"R_thigh":[-26.54,-32.2,292.14],"R_shin":[-49.65,-50.01,137.51],"R_hand":[-96.94,89.5,289.41],"L_ankle_pitch_link":[62.99,0.0,54.78],"L_foot":[60.03,-25.0,17.5],"L_gripper":[208.17,-29.59,248.47],"R_ankle_pitch_link":[-60.36,-41.02,65.86],"R_foot":[-63.31,-66.02,28.58],"R_gripper":[-108.17,100.31,264.09]}},{"sample":470,"time":9.4,"margin":22.52,"clearance":9.27,"forward":41.06,"support":"L","com":[37.56,-7.08,347.59],"links":{"base_link":[50.0,-5.78,386.05],"L_hip_yaw_link":[112.5,-5.78,406.05],"R_hip_yaw_link":[-12.5,-5.78,406.05],"torso":[50.0,-5.78,508.55],"neck_pan_link":[50.0,-5.78,621.05],"head":[50.0,-5.78,702.05],"L_hip_roll_link":[112.5,-5.78,386.05],"L_shoulder_pitch_link":[140.0,-5.78,586.05],"L_upper_arm":[144.39,-19.4,514.92],"R_hip_roll_link":[-12.5,-5.78,386.05],"R_shoulder_pitch_link":[-40.0,-5.78,586.05],"R_upper_arm":[-44.39,7.85,514.92],"L_forearm":[196.0,-32.74,374.02],"L_thigh":[97.72,-4.31,287.16],"L_shin":[73.78,-1.34,126.97],"L_hand":[201.79,-33.01,276.73],"R_forearm":[-96.0,47.53,379.06],"R_thigh":[-26.65,-31.6,291.38],"R_shin":[-49.89,-48.76,135.85],"R_hand":[-101.79,83.24,288.57],"L_ankle_pitch_link":[62.99,0.0,54.78],"L_foot":[60.04,-25.0,17.5],"L_gripper":[213.43,-32.97,249.38],"R_ankle_pitch_link":[-60.62,-41.06,64.06],"R_foot":[-63.58,-66.06,26.77],"R_gripper":[-113.43,93.38,263.16]}},{"sample":475,"time":9.5,"margin":22.48,"clearance":7.47,"forward":41.06,"support":"L","com":[37.52,-8.27,347.35],"links":{"base_link":[50.0,-7.41,386.01],"L_hip_yaw_link":[112.5,-7.41,406.01],"R_hip_yaw_link":[-12.5,-7.41,406.01],"torso":[50.0,-7.41,508.51],"neck_pan_link":[50.0,-7.41,621.01],"head":[50.0,-7.41,702.01],"L_hip_roll_link":[112.5,-7.41,386.01],"L_shoulder_pitch_link":[140.0,-7.41,586.01],"L_upper_arm":[145.62,-20.61,514.9],"R_hip_roll_link":[-12.5,-7.41,386.01],"R_shoulder_pitch_link":[-40.0,-7.41,586.01],"R_upper_arm":[-45.62,5.8,514.9],"L_forearm":[199.65,-34.53,374.82],"L_thigh":[97.72,-5.52,287.13],"L_shin":[73.78,-1.71,126.96],"L_hand":[207.1,-36.3,277.66],"R_forearm":[-99.65,43.1,379.16],"R_thigh":[-26.76,-30.92,290.61],"R_shin":[-50.14,-47.35,134.18],"R_hand":[-107.1,76.32,287.84],"L_ankle_pitch_link":[63.0,0.0,54.78],"L_foot":[60.04,-25.0,17.5],"L_gripper":[219.21,-36.67,250.51],"R_ankle_pitch_link":[-60.89,-41.06,62.25],"R_foot":[-63.84,-66.06,24.97],"R_gripper":[-119.21,85.72,262.37]}},{"sample":480,"time":9.6,"margin":22.44,"clearance":5.78,"forward":41.01,"support":"L","com":[37.49,-9.51,347.13],"links":{"base_link":[50.0,-9.13,385.97],"L_hip_yaw_link":[112.5,-9.13,405.97],"R_hip_yaw_link":[-12.5,-9.13,405.97],"torso":[50.0,-9.13,508.47],"neck_pan_link":[50.0,-9.13,620.97],"head":[50.0,-9.13,701.97],"L_hip_roll_link":[112.5,-9.13,385.97],"L_shoulder_pitch_link":[140.0,-9.13,585.97],"L_upper_arm":[146.92,-21.88,514.88],"R_hip_roll_link":[-12.5,-9.13,385.97],"R_shoulder_pitch_link":[-40.0,-9.13,585.97],"R_upper_arm":[-46.92,3.63,514.88],"L_forearm":[203.49,-36.41,375.74],"L_thigh":[97.72,-6.81,287.1],"L_shin":[73.79,-2.11,126.95],"L_hand":[212.7,-39.77,278.78],"R_forearm":[-103.49,38.4,379.38],"R_thigh":[-26.86,-30.17,289.86],"R_shin":[-50.37,-45.82,132.6],"R_hand":[-112.7,68.97,287.3],"L_ankle_pitch_link":[63.0,0.0,54.78],"L_foot":[60.05,-25.0,17.5],"L_gripper":[225.3,-40.56,251.86],"R_ankle_pitch_link":[-61.13,-41.01,60.56],"R_foot":[-64.09,-66.01,23.28],"R_gripper":[-125.3,77.59,261.78]}},{"sample":485,"time":9.7,"margin":22.41,"clearance":4.27,"forward":40.93,"support":"L","com":[37.46,-10.78,346.94],"links":{"base_link":[50.0,-10.87,385.91],"L_hip_yaw_link":[112.5,-10.87,405.91],"R_hip_yaw_link":[-12.5,-10.87,405.91],"torso":[50.0,-10.87,508.41],"neck_pan_link":[50.0,-10.87,620.91],"head":[50.0,-10.87,701.91],"L_hip_roll_link":[112.5,-10.87,385.91],"L_shoulder_pitch_link":[140.0,-10.87,585.91],"L_upper_arm":[148.24,-23.18,514.89],"R_hip_roll_link":[-12.5,-10.87,385.91],"R_shoulder_pitch_link":[-40.0,-10.87,585.91],"R_upper_arm":[-48.24,1.43,514.89],"L_forearm":[207.39,-38.33,376.78],"L_thigh":[97.73,-8.11,287.06],"L_shin":[73.8,-2.52,126.94],"L_hand":[218.38,-43.29,280.07],"R_forearm":[-107.39,33.6,379.72],"R_thigh":[-26.96,-29.4,289.16],"R_shin":[-50.57,-44.22,131.17],"R_hand":[-118.38,61.44,286.98],"L_ankle_pitch_link":[63.01,0.01,54.78],"L_foot":[60.06,-24.99,17.5],"L_gripper":[231.48,-44.52,253.4],"R_ankle_pitch_link":[-61.35,-40.93,59.05],"R_foot":[-64.31,-65.93,21.77],"R_gripper":[-131.48,69.25,261.45]}},{"sample":490,"time":9.8,"margin":22.37,"clearance":3.0,"forward":40.81,"support":"L","com":[37.44,-12.01,346.79],"links":{"base_link":[50.0,-12.59,385.85],"L_hip_yaw_link":[112.5,-12.59,405.85],"R_hip_yaw_link":[-12.5,-12.59,405.85],"torso":[50.0,-12.59,508.35],"neck_pan_link":[50.0,-12.59,620.85],"head":[50.0,-12.59,701.85],"L_hip_roll_link":[112.5,-12.59,385.85],"L_shoulder_pitch_link":[140.0,-12.59,585.85],"L_upper_arm":[149.54,-24.44,514.91],"R_hip_roll_link":[-12.5,-12.59,385.85],"R_shoulder_pitch_link":[-40.0,-12.59,585.85],"R_upper_arm":[-49.54,-0.75,514.91],"L_forearm":[211.19,-40.22,377.88],"L_thigh":[97.73,-9.39,287.01],"L_shin":[73.8,-2.92,126.92],"L_hand":[223.95,-46.75,281.48],"R_forearm":[-111.19,28.86,380.19],"R_thigh":[-27.04,-28.61,288.55],"R_shin":[-50.74,-42.61,129.96],"R_hand":[-123.95,54.01,286.9],"L_ankle_pitch_link":[63.02,0.01,54.78],"L_foot":[60.06,-24.99,17.5],"L_gripper":[237.53,-48.41,255.08],"R_ankle_pitch_link":[-61.53,-40.81,57.78],"R_foot":[-64.49,-65.81,20.5],"R_gripper":[-137.53,61.01,261.39]}},{"sample":495,"time":9.9,"margin":22.35,"clearance":2.0,"forward":40.67,"support":"L","com":[37.42,-13.18,346.67],"links":{"base_link":[50.0,-14.22,385.78],"L_hip_yaw_link":[112.5,-14.22,405.78],"R_hip_yaw_link":[-12.5,-14.22,405.78],"torso":[50.0,-14.22,508.28],"neck_pan_link":[50.0,-14.22,620.78],"head":[50.0,-14.22,701.78],"L_hip_roll_link":[112.5,-14.22,385.78],"L_shoulder_pitch_link":[140.0,-14.22,585.78],"L_upper_arm":[150.77,-25.64,514.95],"R_hip_roll_link":[-12.5,-14.22,385.78],"R_shoulder_pitch_link":[-40.0,-14.22,585.78],"R_upper_arm":[-50.77,-2.81,514.95],"L_forearm":[214.78,-42.01,379.0],"L_thigh":[97.73,-10.61,286.96],"L_shin":[73.81,-3.29,126.9],"L_hand":[229.2,-50.03,282.95],"R_forearm":[-114.78,24.36,380.74],"R_thigh":[-27.11,-27.85,288.04],"R_shin":[-50.88,-41.05,128.97],"R_hand":[-129.2,46.92,287.03],"L_ankle_pitch_link":[63.03,0.0,54.78],"L_foot":[60.08,-25.0,17.5],"L_gripper":[243.23,-52.1,256.82],"R_ankle_pitch_link":[-61.67,-40.67,56.78],"R_foot":[-64.63,-65.67,19.5],"R_gripper":[-143.23,53.17,261.58]}},{"sample":500,"time":10.0,"margin":22.32,"clearance":1.25,"forward":40.52,"support":"L","com":[37.41,-14.24,346.59],"links":{"base_link":[50.0,-15.71,385.71],"L_hip_yaw_link":[112.5,-15.71,405.71],"R_hip_yaw_link":[-12.5,-15.71,405.71],"torso":[50.0,-15.71,508.21],"neck_pan_link":[50.0,-15.71,620.71],"head":[50.0,-15.71,701.71],"L_hip_roll_link":[112.5,-15.71,385.71],"L_shoulder_pitch_link":[140.0,-15.71,585.71],"L_upper_arm":[151.88,-26.73,514.99],"R_hip_roll_link":[-12.5,-15.71,385.71],"R_shoulder_pitch_link":[-40.0,-15.71,585.71],"R_upper_arm":[-51.88,-4.69,514.99],"L_forearm":[218.03,-43.64,380.09],"L_thigh":[97.73,-11.72,286.91],"L_shin":[73.82,-3.64,126.89],"L_hand":[233.97,-53.02,284.4],"R_forearm":[-118.03,20.26,381.34],"R_thigh":[-27.16,-27.15,287.62],"R_shin":[-50.98,-39.61,128.22],"R_hand":[-133.97,40.44,287.34],"L_ankle_pitch_link":[63.04,0.0,54.78],"L_foot":[60.09,-25.0,17.5],"L_gripper":[248.41,-55.46,258.53],"R_ankle_pitch_link":[-61.77,-40.52,56.03],"R_foot":[-64.73,-65.52,18.75],"R_gripper":[-148.41,45.99,261.95]}},{"sample":505,"time":10.1,"margin":22.3,"clearance":0.73,"forward":40.38,"support":"L","com":[37.4,-15.17,346.54],"links":{"base_link":[50.0,-17.01,385.65],"L_hip_yaw_link":[112.5,-17.01,405.65],"R_hip_yaw_link":[-12.5,-17.01,405.65],"torso":[50.0,-17.01,508.15],"neck_pan_link":[50.0,-17.01,620.65],"head":[50.0,-17.01,701.65],"L_hip_roll_link":[112.5,-17.01,385.65],"L_shoulder_pitch_link":[140.0,-17.01,585.65],"L_upper_arm":[152.85,-27.68,515.04],"R_hip_roll_link":[-12.5,-17.01,385.65],"R_shoulder_pitch_link":[-40.0,-17.01,585.65],"R_upper_arm":[-52.85,-6.33,515.04],"L_forearm":[220.85,-45.07,381.09],"L_thigh":[97.74,-12.69,286.86],"L_shin":[73.83,-3.94,126.87],"L_hand":[238.1,-55.62,285.75],"R_forearm":[-120.85,16.67,381.94],"R_thigh":[-27.2,-26.53,287.31],"R_shin":[-51.05,-38.34,127.68],"R_hand":[-138.1,34.78,287.75],"L_ankle_pitch_link":[63.05,0.0,54.78],"L_foot":[60.1,-25.0,17.5],"L_gripper":[252.9,-58.39,260.12],"R_ankle_pitch_link":[-61.84,-40.38,55.51],"R_foot":[-64.8,-65.38,18.23],"R_gripper":[-152.9,39.72,262.44]}},{"sample":510,"time":10.2,"margin":22.29,"clearance":0.39,"forward":40.25,"support":"L","com":[37.39,-15.93,346.52],"links":{"base_link":[50.0,-18.07,385.59],"L_hip_yaw_link":[112.5,-18.07,405.59],"R_hip_yaw_link":[-12.5,-18.07,405.59],"torso":[50.0,-18.07,508.09],"neck_pan_link":[50.0,-18.07,620.59],"head":[50.0,-18.07,701.59],"L_hip_roll_link":[112.5,-18.07,385.59],"L_shoulder_pitch_link":[140.0,-18.07,585.59],"L_upper_arm":[153.65,-28.47,515.09],"R_hip_roll_link":[-12.5,-18.07,385.59],"R_shoulder_pitch_link":[-40.0,-18.07,585.59],"R_upper_arm":[-53.65,-7.68,515.09],"L_forearm":[223.16,-46.24,381.95],"L_thigh":[97.74,-13.48,286.82],"L_shin":[73.83,-4.19,126.86],"L_hand":[241.49,-57.77,286.93],"R_forearm":[-123.16,13.71,382.49],"R_thigh":[-27.22,-26.02,287.08],"R_shin":[-51.1,-37.29,127.31],"R_hand":[-141.49,30.09,288.18],"L_ankle_pitch_link":[63.06,0.0,54.78],"L_foot":[60.1,-25.0,17.5],"L_gripper":[256.58,-60.81,261.49],"R_ankle_pitch_link":[-61.88,-40.25,55.17],"R_foot":[-64.84,-65.25,17.89],"R_gripper":[-156.58,34.52,262.95]}},{"sample":515,"time":10.3,"margin":22.28,"clearance":0.19,"forward":40.15,"support":"L","com":[37.39,-16.52,346.5],"links":{"base_link":[50.0,-18.9,385.54],"L_hip_yaw_link":[112.5,-18.9,405.54],"R_hip_yaw_link":[-12.5,-18.9,405.54],"torso":[50.0,-18.9,508.04],"neck_pan_link":[50.0,-18.9,620.54],"head":[50.0,-18.9,701.54],"L_hip_roll_link":[112.5,-18.9,385.54],"L_shoulder_pitch_link":[140.0,-18.9,585.54],"L_upper_arm":[154.26,-29.07,515.13],"R_hip_roll_link":[-12.5,-18.9,385.54],"R_shoulder_pitch_link":[-40.0,-18.9,585.54],"R_upper_arm":[-54.26,-8.73,515.13],"L_forearm":[224.93,-47.15,382.64],"L_thigh":[97.74,-14.1,286.78],"L_shin":[73.84,-4.38,126.85],"L_hand":[244.09,-59.42,287.87],"R_forearm":[-124.93,11.43,382.94],"R_thigh":[-27.24,-25.62,286.92],"R_shin":[-51.13,-36.47,127.08],"R_hand":[-144.09,26.48,288.58],"L_ankle_pitch_link":[63.07,0.0,54.78],"L_foot":[60.11,-25.0,17.5],"L_gripper":[259.4,-62.67,262.59],"R_ankle_pitch_link":[-61.9,-40.15,54.97],"R_foot":[-64.86,-65.15,17.69],"R_gripper":[-159.4,30.52,263.41]}},{"sample":520,"time":10.4,"margin":22.27,"clearance":0.08,"forward":40.07,"support":"L","com":[37.39,-16.93,346.5],"links":{"base_link":[50.0,-19.47,385.5],"L_hip_yaw_link":[112.5,-19.47,405.5],"R_hip_yaw_link":[-12.5,-19.47,405.5],"torso":[50.0,-19.47,508.0],"neck_pan_link":[50.0,-19.47,620.5],"head":[50.0,-19.47,701.5],"L_hip_roll_link":[112.5,-19.47,385.5],"L_shoulder_pitch_link":[140.0,-19.47,585.5],"L_upper_arm":[154.69,-29.49,515.16],"R_hip_roll_link":[-12.5,-19.47,385.5],"R_shoulder_pitch_link":[-40.0,-19.47,585.5],"R_upper_arm":[-54.69,-9.45,515.16],"L_forearm":[226.17,-47.79,383.13],"L_thigh":[97.74,-14.53,286.75],"L_shin":[73.84,-4.51,126.84],"L_hand":[245.9,-60.58,288.55],"R_forearm":[-126.17,9.84,383.27],"R_thigh":[-27.25,-25.34,286.82],"R_shin":[-51.14,-35.89,126.94],"R_hand":[-145.9,23.96,288.88],"L_ankle_pitch_link":[63.07,0.0,54.78],"L_foot":[60.12,-25.0,17.5],"L_gripper":[261.36,-63.97,263.38],"R_ankle_pitch_link":[-61.91,-40.07,54.86],"R_foot":[-64.87,-65.07,17.58],"R_gripper":[-161.36,27.73,263.77]}},{"sample":525,"time":10.5,"margin":22.27,"clearance":0.03,"forward":40.02,"support":"L","com":[37.39,-17.17,346.5],"links":{"base_link":[50.0,-19.81,385.48],"L_hip_yaw_link":[112.5,-19.81,405.48],"R_hip_yaw_link":[-12.5,-19.81,405.48],"torso":[50.0,-19.81,507.98],"neck_pan_link":[50.0,-19.81,620.48],"head":[50.0,-19.81,701.48],"L_hip_roll_link":[112.5,-19.81,385.48],"L_shoulder_pitch_link":[140.0,-19.81,585.48],"L_upper_arm":[154.95,-29.74,515.18],"R_hip_roll_link":[-12.5,-19.81,385.48],"R_shoulder_pitch_link":[-40.0,-19.81,585.48],"R_upper_arm":[-54.95,-9.89,515.18],"L_forearm":[226.9,-48.17,383.42],"L_thigh":[97.74,-14.78,286.74],"L_shin":[73.84,-4.59,126.84],"L_hand":[246.98,-61.27,288.96],"R_forearm":[-126.9,8.89,383.47],"R_thigh":[-27.25,-25.17,286.76],"R_shin":[-51.15,-35.55,126.87],"R_hand":[-146.98,22.45,289.08],"L_ankle_pitch_link":[63.08,0.0,54.78],"L_foot":[60.12,-25.0,17.5],"L_gripper":[262.53,-64.74,263.86],"R_ankle_pitch_link":[-61.92,-40.02,54.81],"R_foot":[-64.88,-65.02,17.53],"R_gripper":[-162.53,26.06,264.0]}},{"sample":530,"time":10.6,"margin":22.26,"clearance":0.0,"forward":40.0,"support":"L","com":[37.39,-17.28,346.5],"links":{"base_link":[50.0,-19.97,385.47],"L_hip_yaw_link":[112.5,-19.97,405.47],"R_hip_yaw_link":[-12.5,-19.97,405.47],"torso":[50.0,-19.97,507.97],"neck_pan_link":[50.0,-19.97,620.47],"head":[50.0,-19.97,701.47],"L_hip_roll_link":[112.5,-19.97,385.47],"L_shoulder_pitch_link":[140.0,-19.97,585.47],"L_upper_arm":[155.06,-29.85,515.19],"R_hip_roll_link":[-12.5,-19.97,385.47],"R_shoulder_pitch_link":[-40.0,-19.97,585.47],"R_upper_arm":[-55.06,-10.08,515.19],"L_forearm":[227.23,-48.34,383.56],"L_thigh":[97.74,-14.9,286.73],"L_shin":[73.85,-4.63,126.83],"L_hand":[247.46,-61.58,289.15],"R_forearm":[-127.23,8.46,383.57],"R_thigh":[-27.26,-25.1,286.74],"R_shin":[-51.15,-35.4,126.84],"R_hand":[-147.46,21.78,289.17],"L_ankle_pitch_link":[63.08,0.0,54.78],"L_foot":[60.12,-25.0,17.5],"L_gripper":[263.05,-65.09,264.08],"R_ankle_pitch_link":[-61.92,-40.0,54.78],"R_foot":[-64.88,-65.0,17.5],"R_gripper":[-163.05,25.32,264.1]}},{"sample":535,"time":10.7,"margin":22.26,"clearance":0.0,"forward":40.0,"support":"L","com":[37.39,-17.3,346.5],"links":{"base_link":[50.0,-20.0,385.47],"L_hip_yaw_link":[112.5,-20.0,405.47],"R_hip_yaw_link":[-12.5,-20.0,405.47],"torso":[50.0,-20.0,507.97],"neck_pan_link":[50.0,-20.0,620.47],"head":[50.0,-20.0,701.47],"L_hip_roll_link":[112.5,-20.0,385.47],"L_shoulder_pitch_link":[140.0,-20.0,585.47],"L_upper_arm":[155.08,-29.88,515.2],"R_hip_roll_link":[-12.5,-20.0,385.47],"R_shoulder_pitch_link":[-40.0,-20.0,585.47],"R_upper_arm":[-55.08,-10.12,515.2],"L_forearm":[227.29,-48.37,383.59],"L_thigh":[97.74,-14.92,286.73],"L_shin":[73.85,-4.64,126.83],"L_hand":[247.56,-61.64,289.19],"R_forearm":[-127.29,8.37,383.59],"R_thigh":[-27.26,-25.08,286.73],"R_shin":[-51.15,-35.37,126.83],"R_hand":[-147.56,21.64,289.19],"L_ankle_pitch_link":[63.08,0.0,54.78],"L_foot":[60.12,-25.0,17.5],"L_gripper":[263.16,-65.16,264.12],"R_ankle_pitch_link":[-61.92,-40.0,54.78],"R_foot":[-64.88,-65.0,17.5],"R_gripper":[-163.16,25.16,264.12]}},{"sample":536,"time":10.72,"margin":64.8,"clearance":-0.0,"forward":40.0,"support":"D","com":[37.39,-17.3,346.5],"links":{"base_link":[50.0,-20.0,385.47],"L_hip_yaw_link":[112.5,-20.0,405.47],"R_hip_yaw_link":[-12.5,-20.0,405.47],"torso":[50.0,-20.0,507.97],"neck_pan_link":[50.0,-20.0,620.47],"head":[50.0,-20.0,701.47],"L_hip_roll_link":[112.5,-20.0,385.47],"L_shoulder_pitch_link":[140.0,-20.0,585.47],"L_upper_arm":[155.08,-29.88,515.2],"R_hip_roll_link":[-12.5,-20.0,385.47],"R_shoulder_pitch_link":[-40.0,-20.0,585.47],"R_upper_arm":[-55.08,-10.12,515.2],"L_forearm":[227.29,-48.37,383.59],"L_thigh":[97.74,-14.92,286.73],"L_shin":[73.85,-4.64,126.83],"L_hand":[247.56,-61.64,289.19],"R_forearm":[-127.29,8.37,383.59],"R_thigh":[-27.26,-25.08,286.73],"R_shin":[-51.15,-35.37,126.83],"R_hand":[-147.56,21.64,289.19],"L_ankle_pitch_link":[63.08,0.0,54.78],"L_foot":[60.12,-25.0,17.5],"L_gripper":[263.16,-65.16,264.12],"R_ankle_pitch_link":[-61.92,-40.0,54.78],"R_foot":[-64.88,-65.0,17.5],"R_gripper":[-163.16,25.16,264.12]}}],"WS-L01":[{"sample":0,"time":0.0,"margin":44.8,"clearance":-0.0,"forward":-0.0,"support":"D","com":[-0.59,2.7,348.59],"links":{"base_link":[0.0,0.0,390.0],"L_hip_yaw_link":[62.5,0.0,410.0],"R_hip_yaw_link":[-62.5,0.0,410.0],"torso":[0.0,0.0,512.5],"neck_pan_link":[0.0,0.0,625.0],"head":[0.0,0.0,706.0],"L_hip_roll_link":[62.5,0.0,390.0],"L_shoulder_pitch_link":[90.0,0.0,590.0],"L_upper_arm":[90.0,0.0,517.45],"R_hip_roll_link":[-62.5,0.0,390.0],"R_shoulder_pitch_link":[-90.0,0.0,590.0],"R_upper_arm":[-90.0,0.0,517.45],"L_forearm":[133.0,0.0,372.44],"L_thigh":[62.5,0.0,290.0],"L_shin":[62.5,0.0,128.0],"L_hand":[133.0,0.0,274.98],"R_forearm":[-133.0,0.0,372.44],"R_thigh":[-62.5,0.0,290.0],"R_shin":[-62.5,0.0,128.0],"R_hand":[-133.0,0.0,274.98],"L_ankle_pitch_link":[62.5,0.0,55.0],"L_foot":[62.5,-25.0,17.5],"L_gripper":[143.0,0.0,246.98],"R_ankle_pitch_link":[-62.5,0.0,55.0],"R_foot":[-62.5,-25.0,17.5],"R_gripper":[-143.0,0.0,246.98]}},{"sample":5,"time":0.1,"margin":44.81,"clearance":0.0,"forward":0.0,"support":"D","com":[-0.59,2.69,348.59],"links":{"base_link":[0.0,0.0,390.0],"L_hip_yaw_link":[62.5,0.0,410.0],"R_hip_yaw_link":[-62.5,0.0,410.0],"torso":[0.0,0.0,512.5],"neck_pan_link":[0.0,0.0,625.0],"head":[0.0,0.0,706.0],"L_hip_roll_link":[62.5,0.0,390.0],"L_shoulder_pitch_link":[90.0,0.0,590.0],"L_upper_arm":[90.0,0.0,517.45],"R_hip_roll_link":[-62.5,0.0,390.0],"R_shoulder_pitch_link":[-90.0,0.0,590.0],"R_upper_arm":[-90.0,0.0,517.45],"L_forearm":[133.0,0.0,372.44],"L_thigh":[62.5,-0.03,290.0],"L_shin":[62.5,-0.03,128.0],"L_hand":[133.0,0.0,274.98],"R_forearm":[-133.0,0.0,372.44],"R_thigh":[-62.5,-0.03,290.0],"R_shin":[-62.5,-0.03,128.0],"R_hand":[-133.0,0.0,274.98],"L_ankle_pitch_link":[62.5,-0.0,55.0],"L_foot":[62.5,-25.0,17.5],"L_gripper":[143.0,0.0,246.98],"R_ankle_pitch_link":[-62.5,-0.0,55.0],"R_foot":[-62.5,-25.0,17.5],"R_gripper":[-143.0,0.0,246.98]}},{"sample":10,"time":0.2,"margin":44.84,"clearance":-0.0,"forward":0.01,"support":"D","com":[-0.59,2.64,348.59],"links":{"base_link":[0.0,0.0,390.0],"L_hip_yaw_link":[62.5,0.0,410.0],"R_hip_yaw_link":[-62.5,0.0,410.0],"torso":[0.0,0.0,512.5],"neck_pan_link":[0.0,0.0,625.0],"head":[0.0,0.0,706.0],"L_hip_roll_link":[62.5,0.0,390.0],"L_shoulder_pitch_link":[90.0,0.0,590.0],"L_upper_arm":[90.0,0.0,517.45],"R_hip_roll_link":[-62.5,0.0,390.0],"R_shoulder_pitch_link":[-90.0,0.0,590.0],"R_upper_arm":[-90.0,0.0,517.45],"L_forearm":[133.0,0.0,372.43],"L_thigh":[62.5,-0.21,290.0],"L_shin":[62.5,-0.21,128.0],"L_hand":[133.0,0.0,274.98],"R_forearm":[-133.0,0.0,372.43],"R_thigh":[-62.5,-0.21,290.0],"R_shin":[-62.5,-0.21,128.0],"R_hand":[-133.0,0.0,274.98],"L_ankle_pitch_link":[62.5,-0.01,55.0],"L_foot":[62.5,-25.01,17.5],"L_gripper":[143.0,0.0,246.98],"R_ankle_pitch_link":[-62.5,-0.01,55.0],"R_foot":[-62.5,-25.01,17.5],"R_gripper":[-143.0,0.0,246.98]}},{"sample":15,"time":0.3,"margin":44.94,"clearance":0.0,"forward":0.04,"support":"D","com":[-0.59,2.52,348.58],"links":{"base_link":[0.0,0.0,389.99],"L_hip_yaw_link":[62.5,0.0,409.99],"R_hip_yaw_link":[-62.5,0.0,409.99],"torso":[0.0,0.0,512.49],"neck_pan_link":[0.0,0.0,624.99],"head":[0.0,0.0,705.99],"L_hip_roll_link":[62.5,0.0,389.99],"L_shoulder_pitch_link":[90.0,0.0,589.99],"L_upper_arm":[90.0,0.0,517.44],"R_hip_roll_link":[-62.5,0.0,389.99],"R_shoulder_pitch_link":[-90.0,0.0,589.99],"R_upper_arm":[-90.0,0.0,517.44],"L_forearm":[133.0,0.0,372.43],"L_thigh":[62.5,-0.65,289.99],"L_shin":[62.5,-0.63,128.0],"L_hand":[133.0,0.0,274.97],"R_forearm":[-133.0,0.0,372.43],"R_thigh":[-62.5,-0.65,289.99],"R_shin":[-62.5,-0.63,128.0],"R_hand":[-133.0,0.0,274.97],"L_ankle_pitch_link":[62.5,-0.04,55.0],"L_foot":[62.5,-25.04,17.5],"L_gripper":[143.0,0.0,246.97],"R_ankle_pitch_link":[-62.5,-0.04,55.0],"R_foot":[-62.5,-25.04,17.5],"R_gripper":[-143.0,0.0,246.97]}},{"sample":20,"time":0.4,"margin":45.09,"clearance":0.0,"forward":0.09,"support":"D","com":[-0.59,2.33,348.55],"links":{"base_link":[0.0,0.0,389.95],"L_hip_yaw_link":[62.5,0.0,409.95],"R_hip_yaw_link":[-62.5,0.0,409.95],"torso":[0.0,0.0,512.45],"neck_pan_link":[0.0,0.0,624.95],"head":[0.0,0.0,705.95],"L_hip_roll_link":[62.5,0.0,389.95],"L_shoulder_pitch_link":[90.0,0.0,589.95],"L_upper_arm":[90.0,0.0,517.4],"R_hip_roll_link":[-62.5,0.0,389.95],"R_shoulder_pitch_link":[-90.0,0.0,589.95],"R_upper_arm":[-90.0,0.0,517.4],"L_forearm":[133.0,0.0,372.39],"L_thigh":[62.5,-1.36,289.97],"L_shin":[62.5,-1.33,127.99],"L_hand":[133.0,0.0,274.93],"R_forearm":[-133.0,0.0,372.39],"R_thigh":[-62.5,-1.36,289.97],"R_shin":[-62.5,-1.33,127.99],"R_hand":[-133.0,0.0,274.93],"L_ankle_pitch_link":[62.5,-0.09,55.0],"L_foot":[62.5,-25.09,17.5],"L_gripper":[143.0,0.0,246.93],"R_ankle_pitch_link":[-62.5,-0.09,55.0],"R_foot":[-62.5,-25.09,17.5],"R_gripper":[-143.0,0.0,246.93]}},{"sample":25,"time":0.5,"margin":45.29,"clearance":0.0,"forward":0.15,"support":"D","com":[-0.59,2.06,348.48],"links":{"base_link":[0.0,0.0,389.86],"L_hip_yaw_link":[62.5,0.0,409.86],"R_hip_yaw_link":[-62.5,0.0,409.86],"torso":[0.0,0.0,512.36],"neck_pan_link":[0.0,0.0,624.86],"head":[0.0,0.0,705.86],"L_hip_roll_link":[62.5,0.0,389.86],"L_shoulder_pitch_link":[90.0,0.0,589.86],"L_upper_arm":[90.0,0.0,517.31],"R_hip_roll_link":[-62.5,0.0,389.86],"R_shoulder_pitch_link":[-90.0,0.0,589.86],"R_upper_arm":[-90.0,0.0,517.31],"L_forearm":[133.0,0.0,372.3],"L_thigh":[62.5,-2.34,289.9],"L_shin":[62.5,-2.29,127.97],"L_hand":[133.0,0.0,274.84],"R_forearm":[-133.0,0.0,372.3],"R_thigh":[-62.5,-2.34,289.9],"R_shin":[-62.5,-2.29,127.97],"R_hand":[-133.0,0.0,274.84],"L_ankle_pitch_link":[62.5,-0.15,55.0],"L_foot":[62.5,-25.15,17.5],"L_gripper":[143.0,0.0,246.84],"R_ankle_pitch_link":[-62.5,-0.15,55.0],"R_foot":[-62.5,-25.15,17.5],"R_gripper":[-143.0,0.0,246.84]}},{"sample":30,"time":0.6,"margin":45.55,"clearance":0.0,"forward":0.22,"support":"D","com":[-0.59,1.73,348.34],"links":{"base_link":[0.0,0.0,389.69],"L_hip_yaw_link":[62.5,0.0,409.69],"R_hip_yaw_link":[-62.5,0.0,409.69],"torso":[0.0,0.0,512.19],"neck_pan_link":[0.0,0.0,624.69],"head":[0.0,0.0,705.69],"L_hip_roll_link":[62.5,0.0,389.69],"L_shoulder_pitch_link":[90.0,0.0,589.69],"L_upper_arm":[90.0,0.0,517.14],"R_hip_roll_link":[-62.5,0.0,389.69],"R_shoulder_pitch_link":[-90.0,0.0,589.69],"R_upper_arm":[-90.0,0.0,517.14],"L_forearm":[133.0,0.0,372.13],"L_thigh":[62.5,-3.54,289.77],"L_shin":[62.5,-3.46,127.93],"L_hand":[133.0,0.0,274.67],"R_forearm":[-133.0,0.0,372.13],"R_thigh":[-62.5,-3.54,289.77],"R_shin":[-62.5,-3.46,127.93],"R_hand":[-133.0,0.0,274.67],"L_ankle_pitch_link":[62.5,-0.22,55.0],"L_foot":[62.5,-25.22,17.5],"L_gripper":[143.0,0.0,246.67],"R_ankle_pitch_link":[-62.5,-0.22,55.0],"R_foot":[-62.5,-25.22,17.5],"R_gripper":[-143.0,0.0,246.67]}},{"sample":35,"time":0.7,"margin":45.83,"clearance":0.0,"forward":0.31,"support":"D","com":[-0.59,1.36,348.12],"links":{"base_link":[0.0,0.0,389.41],"L_hip_yaw_link":[62.5,0.0,409.41],"R_hip_yaw_link":[-62.5,0.0,409.41],"torso":[0.0,0.0,511.91],"neck_pan_link":[0.0,0.0,624.41],"head":[0.0,0.0,705.41],"L_hip_roll_link":[62.5,0.0,389.41],"L_shoulder_pitch_link":[90.0,0.0,589.41],"L_upper_arm":[90.0,0.0,516.86],"R_hip_roll_link":[-62.5,0.0,389.41],"R_shoulder_pitch_link":[-90.0,0.0,589.41],"R_upper_arm":[-90.0,0.0,516.86],"L_forearm":[133.0,0.0,371.85],"L_thigh":[62.5,-4.89,289.56],"L_shin":[62.5,-4.76,127.86],"L_hand":[133.0,0.0,274.39],"R_forearm":[-133.0,0.0,371.85],"R_thigh":[-62.5,-4.89,289.56],"R_shin":[-62.5,-4.76,127.86],"R_hand":[-133.0,0.0,274.39],"L_ankle_pitch_link":[62.5,-0.31,55.0],"L_foot":[62.5,-25.31,17.5],"L_gripper":[143.0,0.0,246.39],"R_ankle_pitch_link":[-62.5,-0.31,55.0],"R_foot":[-62.5,-25.31,17.5],"R_gripper":[-143.0,0.0,246.39]}},{"sample":40,"time":0.8,"margin":46.12,"clearance":0.0,"forward":0.39,"support":"D","com":[-0.59,0.98,347.82],"links":{"base_link":[0.0,0.0,389.03],"L_hip_yaw_link":[62.5,0.0,409.03],"R_hip_yaw_link":[-62.5,0.0,409.03],"torso":[0.0,0.0,511.53],"neck_pan_link":[0.0,0.0,624.03],"head":[0.0,0.0,705.03],"L_hip_roll_link":[62.5,0.0,389.03],"L_shoulder_pitch_link":[90.0,0.0,589.03],"L_upper_arm":[90.0,0.0,516.48],"R_hip_roll_link":[-62.5,0.0,389.03],"R_shoulder_pitch_link":[-90.0,0.0,589.03],"R_upper_arm":[-90.0,0.0,516.48],"L_forearm":[133.0,0.0,371.47],"L_thigh":[62.5,-6.27,289.28],"L_shin":[62.5,-6.12,127.78],"L_hand":[133.0,0.0,274.01],"R_forearm":[-133.0,0.0,371.47],"R_thigh":[-62.5,-6.27,289.28],"R_shin":[-62.5,-6.12,127.78],"R_hand":[-133.0,0.0,274.01],"L_ankle_pitch_link":[62.5,-0.39,55.0],"L_foot":[62.5,-25.39,17.5],"L_gripper":[143.0,0.0,246.01],"R_ankle_pitch_link":[-62.5,-0.39,55.0],"R_foot":[-62.5,-25.39,17.5],"R_gripper":[-143.0,0.0,246.01]}},{"sample":45,"time":0.9,"margin":46.41,"clearance":0.0,"forward":0.48,"support":"D","com":[-0.59,0.62,347.46],"links":{"base_link":[0.0,0.0,388.57],"L_hip_yaw_link":[62.5,0.0,408.57],"R_hip_yaw_link":[-62.5,0.0,408.57],"torso":[0.0,0.0,511.07],"neck_pan_link":[0.0,0.0,623.57],"head":[0.0,0.0,704.57],"L_hip_roll_link":[62.5,0.0,388.57],"L_shoulder_pitch_link":[90.0,0.0,588.57],"L_upper_arm":[90.0,0.0,516.02],"R_hip_roll_link":[-62.5,0.0,388.57],"R_shoulder_pitch_link":[-90.0,0.0,588.57],"R_upper_arm":[-90.0,0.0,516.02],"L_forearm":[133.0,0.0,371.01],"L_thigh":[62.5,-7.61,288.93],"L_shin":[62.5,-7.42,127.67],"L_hand":[133.0,0.0,273.55],"R_forearm":[-133.0,0.0,371.01],"R_thigh":[-62.5,-7.61,288.93],"R_shin":[-62.5,-7.42,127.67],"R_hand":[-133.0,0.0,273.55],"L_ankle_pitch_link":[62.5,-0.48,55.0],"L_foot":[62.5,-25.48,17.5],"L_gripper":[143.0,0.0,245.55],"R_ankle_pitch_link":[-62.5,-0.48,55.0],"R_foot":[-62.5,-25.48,17.5],"R_gripper":[-143.0,0.0,245.55]}},{"sample":50,"time":1.0,"margin":46.66,"clearance":-0.0,"forward":0.55,"support":"D","com":[-0.59,0.29,347.08],"links":{"base_link":[0.0,0.0,388.09],"L_hip_yaw_link":[62.5,0.0,408.09],"R_hip_yaw_link":[-62.5,0.0,408.09],"torso":[0.0,0.0,510.59],"neck_pan_link":[0.0,0.0,623.09],"head":[0.0,0.0,704.09],"L_hip_roll_link":[62.5,0.0,388.09],"L_shoulder_pitch_link":[90.0,0.0,588.09],"L_upper_arm":[90.0,0.0,515.53],"R_hip_roll_link":[-62.5,0.0,388.09],"R_shoulder_pitch_link":[-90.0,0.0,588.09],"R_upper_arm":[-90.0,0.0,515.53],"L_forearm":[133.0,0.0,370.52],"L_thigh":[62.5,-8.81,288.57],"L_shin":[62.5,-8.59,127.56],"L_hand":[133.0,0.0,273.06],"R_forearm":[-133.0,0.0,370.52],"R_thigh":[-62.5,-8.81,288.57],"R_shin":[-62.5,-8.59,127.56],"R_hand":[-133.0,0.0,273.06],"L_ankle_pitch_link":[62.5,-0.55,55.0],"L_foot":[62.5,-25.55,17.5],"L_gripper":[143.0,0.0,245.06],"R_ankle_pitch_link":[-62.5,-0.55,55.0],"R_foot":[-62.5,-25.55,17.5],"R_gripper":[-143.0,0.0,245.06]}},{"sample":55,"time":1.1,"margin":46.87,"clearance":0.0,"forward":0.61,"support":"D","com":[-0.59,0.02,346.73],"links":{"base_link":[0.0,0.0,387.64],"L_hip_yaw_link":[62.5,0.0,407.64],"R_hip_yaw_link":[-62.5,0.0,407.64],"torso":[0.0,0.0,510.14],"neck_pan_link":[0.0,0.0,622.64],"head":[0.0,0.0,703.64],"L_hip_roll_link":[62.5,0.0,387.64],"L_shoulder_pitch_link":[90.0,0.0,587.64],"L_upper_arm":[90.0,0.0,515.08],"R_hip_roll_link":[-62.5,0.0,387.64],"R_shoulder_pitch_link":[-90.0,0.0,587.64],"R_upper_arm":[-90.0,0.0,515.08],"L_forearm":[133.0,0.0,370.07],"L_thigh":[62.5,-9.78,288.24],"L_shin":[62.5,-9.54,127.45],"L_hand":[133.0,0.0,272.61],"R_forearm":[-133.0,0.0,370.07],"R_thigh":[-62.5,-9.78,288.24],"R_shin":[-62.5,-9.54,127.45],"R_hand":[-133.0,0.0,272.61],"L_ankle_pitch_link":[62.5,-0.61,55.0],"L_foot":[62.5,-25.61,17.5],"L_gripper":[143.0,0.0,244.61],"R_ankle_pitch_link":[-62.5,-0.61,55.0],"R_foot":[-62.5,-25.61,17.5],"R_gripper":[-143.0,0.0,244.61]}},{"sample":60,"time":1.2,"margin":47.01,"clearance":0.0,"forward":0.66,"support":"D","com":[-0.59,-0.17,346.45],"links":{"base_link":[0.0,0.0,387.28],"L_hip_yaw_link":[62.5,0.0,407.28],"R_hip_yaw_link":[-62.5,0.0,407.28],"torso":[0.0,0.0,509.78],"neck_pan_link":[0.0,0.0,622.28],"head":[0.0,0.0,703.28],"L_hip_roll_link":[62.5,0.0,387.28],"L_shoulder_pitch_link":[90.0,0.0,587.28],"L_upper_arm":[90.0,0.0,514.73],"R_hip_roll_link":[-62.5,0.0,387.28],"R_shoulder_pitch_link":[-90.0,0.0,587.28],"R_upper_arm":[-90.0,0.0,514.73],"L_forearm":[133.0,0.0,369.71],"L_thigh":[62.5,-10.49,287.97],"L_shin":[62.5,-10.23,127.37],"L_hand":[133.0,0.0,272.26],"R_forearm":[-133.0,0.0,369.71],"R_thigh":[-62.5,-10.49,287.97],"R_shin":[-62.5,-10.23,127.37],"R_hand":[-133.0,0.0,272.26],"L_ankle_pitch_link":[62.5,-0.66,55.0],"L_foot":[62.5,-25.66,17.5],"L_gripper":[143.0,0.0,244.26],"R_ankle_pitch_link":[-62.5,-0.66,55.0],"R_foot":[-62.5,-25.66,17.5],"R_gripper":[-143.0,0.0,244.26]}},{"sample":65,"time":1.3,"margin":47.11,"clearance":-0.0,"forward":0.68,"support":"D","com":[-0.59,-0.29,346.28],"links":{"base_link":[0.0,0.0,387.05],"L_hip_yaw_link":[62.5,0.0,407.05],"R_hip_yaw_link":[-62.5,0.0,407.05],"torso":[0.0,0.0,509.55],"neck_pan_link":[0.0,0.0,622.05],"head":[0.0,0.0,703.05],"L_hip_roll_link":[62.5,0.0,387.05],"L_shoulder_pitch_link":[90.0,0.0,587.05],"L_upper_arm":[90.0,0.0,514.5],"R_hip_roll_link":[-62.5,0.0,387.05],"R_shoulder_pitch_link":[-90.0,0.0,587.05],"R_upper_arm":[-90.0,0.0,514.5],"L_forearm":[133.0,0.0,369.49],"L_thigh":[62.5,-10.92,287.8],"L_shin":[62.5,-10.65,127.32],"L_hand":[133.0,0.0,272.03],"R_forearm":[-133.0,0.0,369.49],"R_thigh":[-62.5,-10.92,287.8],"R_shin":[-62.5,-10.65,127.32],"R_hand":[-133.0,0.0,272.03],"L_ankle_pitch_link":[62.5,-0.68,55.0],"L_foot":[62.5,-25.68,17.5],"L_gripper":[143.0,0.0,244.03],"R_ankle_pitch_link":[-62.5,-0.68,55.0],"R_foot":[-62.5,-25.68,17.5],"R_gripper":[-143.0,0.0,244.03]}},{"sample":70,"time":1.4,"margin":47.14,"clearance":0.0,"forward":0.69,"support":"D","com":[-0.59,-0.34,346.2],"links":{"base_link":[0.0,0.0,386.95],"L_hip_yaw_link":[62.5,0.0,406.95],"R_hip_yaw_link":[-62.5,0.0,406.95],"torso":[0.0,0.0,509.45],"neck_pan_link":[0.0,0.0,621.95],"head":[0.0,0.0,702.95],"L_hip_roll_link":[62.5,0.0,386.95],"L_shoulder_pitch_link":[90.0,0.0,586.95],"L_upper_arm":[90.0,0.0,514.4],"R_hip_roll_link":[-62.5,0.0,386.95],"R_shoulder_pitch_link":[-90.0,0.0,586.95],"R_upper_arm":[-90.0,0.0,514.4],"L_forearm":[133.0,0.0,369.39],"L_thigh":[62.5,-11.1,287.73],"L_shin":[62.5,-10.83,127.29],"L_hand":[133.0,0.0,271.93],"R_forearm":[-133.0,0.0,369.39],"R_thigh":[-62.5,-11.1,287.73],"R_shin":[-62.5,-10.83,127.29],"R_hand":[-133.0,0.0,271.93],"L_ankle_pitch_link":[62.5,-0.69,55.0],"L_foot":[62.5,-25.69,17.5],"L_gripper":[143.0,0.0,243.93],"R_ankle_pitch_link":[-62.5,-0.69,55.0],"R_foot":[-62.5,-25.69,17.5],"R_gripper":[-143.0,0.0,243.93]}},{"sample":75,"time":1.5,"margin":47.15,"clearance":0.0,"forward":0.7,"support":"D","com":[-0.59,-0.35,346.18],"links":{"base_link":[0.0,0.0,386.93],"L_hip_yaw_link":[62.5,0.0,406.93],"R_hip_yaw_link":[-62.5,0.0,406.93],"torso":[0.0,0.0,509.43],"neck_pan_link":[0.0,0.0,621.93],"head":[0.0,0.0,702.93],"L_hip_roll_link":[62.5,0.0,386.93],"L_shoulder_pitch_link":[90.0,0.0,586.93],"L_upper_arm":[90.0,0.0,514.38],"R_hip_roll_link":[-62.5,0.0,386.93],"R_shoulder_pitch_link":[-90.0,0.0,586.93],"R_upper_arm":[-90.0,0.0,514.38],"L_forearm":[133.0,0.0,369.37],"L_thigh":[62.5,-11.13,287.71],"L_shin":[62.5,-10.86,127.29],"L_hand":[133.0,0.0,271.91],"R_forearm":[-133.0,0.0,369.37],"R_thigh":[-62.5,-11.13,287.71],"R_shin":[-62.5,-10.86,127.29],"R_hand":[-133.0,0.0,271.91],"L_ankle_pitch_link":[62.5,-0.7,55.0],"L_foot":[62.5,-25.7,17.5],"L_gripper":[143.0,0.0,243.91],"R_ankle_pitch_link":[-62.5,-0.7,55.0],"R_foot":[-62.5,-25.7,17.5],"R_gripper":[-143.0,0.0,243.91]}},{"sample":80,"time":1.6,"margin":47.15,"clearance":0.0,"forward":0.7,"support":"D","com":[-0.59,-0.35,346.19],"links":{"base_link":[-0.01,0.0,386.94],"L_hip_yaw_link":[62.49,0.0,406.94],"R_hip_yaw_link":[-62.51,0.0,406.94],"torso":[-0.01,0.0,509.44],"neck_pan_link":[-0.01,0.0,621.94],"head":[-0.01,0.0,702.94],"L_hip_roll_link":[62.49,0.0,386.94],"L_shoulder_pitch_link":[89.99,0.0,586.94],"L_upper_arm":[90.0,0.0,514.38],"R_hip_roll_link":[-62.51,0.0,386.94],"R_shoulder_pitch_link":[-90.01,0.0,586.94],"R_upper_arm":[-90.01,0.0,514.38],"L_forearm":[133.0,0.0,369.37],"L_thigh":[62.49,-11.13,287.71],"L_shin":[62.5,-10.85,127.29],"L_hand":[133.0,0.0,271.92],"R_forearm":[-133.01,0.0,369.37],"R_thigh":[-62.51,-11.13,287.71],"R_shin":[-62.5,-10.85,127.29],"R_hand":[-133.02,0.0,271.92],"L_ankle_pitch_link":[62.5,-0.7,55.0],"L_foot":[62.5,-25.7,17.5],"L_gripper":[143.0,0.0,243.92],"R_ankle_pitch_link":[-62.5,-0.7,55.0],"R_foot":[-62.5,-25.7,17.5],"R_gripper":[-143.02,0.0,243.92]}},{"sample":85,"time":1.7,"margin":47.15,"clearance":0.0,"forward":0.7,"support":"D","com":[-0.63,-0.34,346.19],"links":{"base_link":[-0.05,0.0,386.94],"L_hip_yaw_link":[62.45,0.0,406.94],"R_hip_yaw_link":[-62.55,0.0,406.94],"torso":[-0.05,0.0,509.44],"neck_pan_link":[-0.05,0.0,621.94],"head":[-0.05,0.0,702.94],"L_hip_roll_link":[62.45,0.0,386.94],"L_shoulder_pitch_link":[89.95,0.0,586.94],"L_upper_arm":[89.96,0.0,514.39],"R_hip_roll_link":[-62.55,0.0,386.94],"R_shoulder_pitch_link":[-90.05,0.0,586.94],"R_upper_arm":[-90.07,0.0,514.39],"L_forearm":[133.0,0.0,369.39],"L_thigh":[62.46,-11.12,287.72],"L_shin":[62.49,-10.84,127.29],"L_hand":[133.02,0.0,271.93],"R_forearm":[-133.1,0.0,369.39],"R_thigh":[-62.54,-11.12,287.72],"R_shin":[-62.51,-10.84,127.29],"R_hand":[-133.13,0.0,271.93],"L_ankle_pitch_link":[62.5,-0.7,55.0],"L_foot":[62.5,-25.7,17.5],"L_gripper":[143.02,0.0,243.93],"R_ankle_pitch_link":[-62.5,-0.7,55.0],"R_foot":[-62.5,-25.7,17.5],"R_gripper":[-143.13,0.0,243.93]}},{"sample":90,"time":1.8,"margin":47.14,"clearance":0.0,"forward":0.69,"support":"D","com":[-0.72,-0.34,346.2],"links":{"base_link":[-0.18,0.0,386.96],"L_hip_yaw_link":[62.32,0.0,406.96],"R_hip_yaw_link":[-62.68,0.0,406.96],"torso":[-0.18,0.0,509.46],"neck_pan_link":[-0.18,0.0,621.96],"head":[-0.18,0.0,702.96],"L_hip_roll_link":[62.32,0.0,386.96],"L_shoulder_pitch_link":[89.82,0.0,586.96],"L_upper_arm":[89.88,0.0,514.4],"R_hip_roll_link":[-62.68,0.0,386.96],"R_shoulder_pitch_link":[-90.18,0.0,586.96],"R_upper_arm":[-90.23,0.0,514.4],"L_forearm":[132.98,0.0,369.42],"L_thigh":[62.37,-11.09,287.73],"L_shin":[62.46,-10.82,127.29],"L_hand":[133.06,0.0,271.97],"R_forearm":[-133.34,0.0,369.42],"R_thigh":[-62.63,-11.09,287.73],"R_shin":[-62.54,-10.82,127.29],"R_hand":[-133.41,0.0,271.97],"L_ankle_pitch_link":[62.5,-0.69,55.0],"L_foot":[62.51,-25.69,17.5],"L_gripper":[143.08,0.0,243.97],"R_ankle_pitch_link":[-62.5,-0.69,55.0],"R_foot":[-62.49,-25.69,17.5],"R_gripper":[-143.43,0.0,243.97]}},{"sample":95,"time":1.9,"margin":47.13,"clearance":-0.0,"forward":0.69,"support":"D","com":[-0.9,-0.32,346.23],"links":{"base_link":[-0.4,0.0,386.98],"L_hip_yaw_link":[62.1,0.0,406.98],"R_hip_yaw_link":[-62.9,0.0,406.98],"torso":[-0.4,0.0,509.48],"neck_pan_link":[-0.4,0.0,621.98],"head":[-0.4,0.0,702.98],"L_hip_roll_link":[62.1,0.0,386.98],"L_shoulder_pitch_link":[89.6,0.0,586.98],"L_upper_arm":[89.72,0.0,514.43],"R_hip_roll_link":[-62.9,0.0,386.98],"R_shoulder_pitch_link":[-90.4,0.0,586.98],"R_upper_arm":[-90.53,0.0,514.43],"L_forearm":[132.96,0.0,369.49],"L_thigh":[62.21,-11.04,287.75],"L_shin":[62.41,-10.77,127.3],"L_hand":[133.13,0.0,272.04],"R_forearm":[-133.77,0.0,369.49],"R_thigh":[-62.79,-11.04,287.75],"R_shin":[-62.59,-10.77,127.3],"R_hand":[-133.94,0.0,272.04],"L_ankle_pitch_link":[62.49,-0.69,55.0],"L_foot":[62.52,-25.69,17.5],"L_gripper":[143.18,0.0,244.05],"R_ankle_pitch_link":[-62.51,-0.69,55.0],"R_foot":[-62.48,-25.69,17.5],"R_gripper":[-143.99,0.0,244.05]}},{"sample":100,"time":2.0,"margin":47.11,"clearance":0.0,"forward":0.69,"support":"D","com":[-1.17,-0.3,346.27],"links":{"base_link":[-0.76,0.0,387.03],"L_hip_yaw_link":[61.74,0.0,407.03],"R_hip_yaw_link":[-63.26,0.0,407.03],"torso":[-0.76,0.0,509.53],"neck_pan_link":[-0.76,0.0,622.03],"head":[-0.76,0.0,703.03],"L_hip_roll_link":[61.74,0.0,387.03],"L_shoulder_pitch_link":[89.24,0.0,587.03],"L_upper_arm":[89.47,0.0,514.47],"R_hip_roll_link":[-63.26,0.0,387.03],"R_shoulder_pitch_link":[-90.76,0.0,587.03],"R_upper_arm":[-90.99,0.0,514.47],"L_forearm":[132.93,0.0,369.6],"L_thigh":[61.96,-10.97,287.78],"L_shin":[62.33,-10.69,127.31],"L_hand":[133.24,0.0,272.14],"R_forearm":[-134.45,0.0,369.6],"R_thigh":[-63.04,-10.97,287.78],"R_shin":[-62.67,-10.69,127.31],"R_hand":[-134.76,0.0,272.14],"L_ankle_pitch_link":[62.49,-0.69,55.0],"L_foot":[62.53,-25.69,17.5],"L_gripper":[143.33,0.0,244.18],"R_ankle_pitch_link":[-62.51,-0.69,55.0],"R_foot":[-62.47,-25.69,17.5],"R_gripper":[-144.85,0.0,244.18]}},{"sample":105,"time":2.1,"margin":47.09,"clearance":0.0,"forward":0.68,"support":"D","com":[-1.55,-0.27,346.32],"links":{"base_link":[-1.26,0.0,387.08],"L_hip_yaw_link":[61.24,0.0,407.08],"R_hip_yaw_link":[-63.76,0.0,407.08],"torso":[-1.26,0.0,509.58],"neck_pan_link":[-1.26,0.0,622.08],"head":[-1.26,0.0,703.08],"L_hip_roll_link":[61.24,0.0,387.08],"L_shoulder_pitch_link":[88.74,0.0,587.08],"L_upper_arm":[89.12,0.0,514.53],"R_hip_roll_link":[-63.76,0.0,387.08],"R_shoulder_pitch_link":[-91.26,0.0,587.08],"R_upper_arm":[-91.64,0.0,514.53],"L_forearm":[132.89,0.0,369.75],"L_thigh":[61.61,-10.86,287.82],"L_shin":[62.21,-10.58,127.32],"L_hand":[133.4,0.0,272.29],"R_forearm":[-135.41,0.0,369.75],"R_thigh":[-63.39,-10.86,287.82],"R_shin":[-62.79,-10.58,127.32],"R_hand":[-135.92,0.0,272.29],"L_ankle_pitch_link":[62.48,-0.68,55.0],"L_foot":[62.56,-25.68,17.5],"L_gripper":[143.55,0.0,244.35],"R_ankle_pitch_link":[-62.52,-0.68,55.0],"R_foot":[-62.44,-25.68,17.5],"R_gripper":[-146.07,0.0,244.35]}},{"sample":110,"time":2.2,"margin":47.06,"clearance":0.0,"forward":0.67,"support":"D","com":[-2.05,-0.23,346.39],"links":{"base_link":[-1.92,0.0,387.16],"L_hip_yaw_link":[60.58,0.0,407.16],"R_hip_yaw_link":[-64.42,0.0,407.16],"torso":[-1.92,0.0,509.66],"neck_pan_link":[-1.92,0.0,622.16],"head":[-1.92,0.0,703.16],"L_hip_roll_link":[60.58,0.0,387.16],"L_shoulder_pitch_link":[88.08,0.0,587.16],"L_upper_arm":[88.66,0.0,514.61],"R_hip_roll_link":[-64.42,0.0,387.16],"R_shoulder_pitch_link":[-91.92,0.0,587.16],"R_upper_arm":[-92.5,0.0,514.61],"L_forearm":[132.83,0.0,369.95],"L_thigh":[61.15,-10.71,287.88],"L_shin":[62.06,-10.44,127.34],"L_hand":[133.61,0.0,272.49],"R_forearm":[-136.67,0.0,369.95],"R_thigh":[-63.85,-10.71,287.88],"R_shin":[-62.94,-10.44,127.34],"R_hand":[-137.45,0.0,272.49],"L_ankle_pitch_link":[62.47,-0.67,55.0],"L_foot":[62.59,-25.67,17.5],"L_gripper":[143.84,0.0,244.58],"R_ankle_pitch_link":[-62.53,-0.67,55.0],"R_foot":[-62.41,-25.67,17.5],"R_gripper":[-147.68,0.0,244.58]}},{"sample":115,"time":2.3,"margin":47.02,"clearance":0.0,"forward":0.66,"support":"D","com":[-2.68,-0.18,346.47],"links":{"base_link":[-2.75,0.0,387.25],"L_hip_yaw_link":[59.75,0.0,407.25],"R_hip_yaw_link":[-65.25,0.0,407.25],"torso":[-2.75,0.0,509.75],"neck_pan_link":[-2.75,0.0,622.25],"head":[-2.75,0.0,703.25],"L_hip_roll_link":[59.75,0.0,387.25],"L_shoulder_pitch_link":[87.25,0.0,587.25],"L_upper_arm":[88.09,0.0,514.7],"R_hip_roll_link":[-65.25,0.0,387.25],"R_shoulder_pitch_link":[-92.75,0.0,587.25],"R_upper_arm":[-93.58,0.0,514.7],"L_forearm":[132.75,0.0,370.2],"L_thigh":[60.56,-10.53,287.95],"L_shin":[61.87,-10.26,127.36],"L_hand":[133.88,0.0,272.74],"R_forearm":[-138.25,0.0,370.2],"R_thigh":[-64.44,-10.53,287.95],"R_shin":[-63.13,-10.26,127.36],"R_hand":[-139.37,0.0,272.74],"L_ankle_pitch_link":[62.46,-0.66,55.0],"L_foot":[62.62,-25.66,17.5],"L_gripper":[144.2,0.0,244.86],"R_ankle_pitch_link":[-62.54,-0.66,55.0],"R_foot":[-62.38,-25.66,17.5],"R_gripper":[-149.69,0.0,244.86]}},{"sample":120,"time":2.4,"margin":46.97,"clearance":0.0,"forward":0.64,"support":"D","com":[-3.44,-0.12,346.57],"links":{"base_link":[-3.75,0.0,387.35],"L_hip_yaw_link":[58.75,0.0,407.35],"R_hip_yaw_link":[-66.25,0.0,407.35],"torso":[-3.75,0.0,509.85],"neck_pan_link":[-3.75,0.0,622.35],"head":[-3.75,0.0,703.35],"L_hip_roll_link":[58.75,0.0,387.35],"L_shoulder_pitch_link":[86.25,0.0,587.35],"L_upper_arm":[87.39,0.0,514.81],"R_hip_roll_link":[-66.25,0.0,387.35],"R_shoulder_pitch_link":[-93.75,0.0,587.35],"R_upper_arm":[-94.89,0.0,514.81],"L_forearm":[132.66,0.0,370.49],"L_thigh":[59.86,-10.3,288.03],"L_shin":[61.64,-10.05,127.39],"L_hand":[134.19,0.0,273.05],"R_forearm":[-140.16,0.0,370.49],"R_thigh":[-65.14,-10.3,288.03],"R_shin":[-63.36,-10.05,127.39],"R_hand":[-141.69,0.0,273.05],"L_ankle_pitch_link":[62.45,-0.64,55.0],"L_foot":[62.67,-25.64,17.5],"L_gripper":[144.63,0.0,245.21],"R_ankle_pitch_link":[-62.55,-0.64,55.0],"R_foot":[-62.33,-25.64,17.5],"R_gripper":[-152.13,0.0,245.21]}},{"sample":125,"time":2.5,"margin":46.92,"clearance":0.0,"forward":0.63,"support":"D","com":[-4.33,-0.05,346.67],"links":{"base_link":[-4.92,0.0,387.47],"L_hip_yaw_link":[57.58,0.0,407.47],"R_hip_yaw_link":[-67.42,0.0,407.47],"torso":[-4.92,0.0,509.97],"neck_pan_link":[-4.92,0.0,622.47],"head":[-4.92,0.0,703.47],"L_hip_roll_link":[57.58,0.0,387.47],"L_shoulder_pitch_link":[85.08,0.0,587.47],"L_upper_arm":[86.57,0.0,514.93],"R_hip_roll_link":[-67.42,0.0,387.47],"R_shoulder_pitch_link":[-94.92,0.0,587.47],"R_upper_arm":[-96.42,0.0,514.93],"L_forearm":[132.55,0.0,370.84],"L_thigh":[59.03,-10.04,288.11],"L_shin":[61.38,-9.79,127.41],"L_hand":[134.56,0.0,273.4],"R_forearm":[-142.4,0.0,370.84],"R_thigh":[-65.97,-10.04,288.11],"R_shin":[-63.62,-9.79,127.41],"R_hand":[-144.4,0.0,273.4],"L_ankle_pitch_link":[62.43,-0.63,55.0],"L_foot":[62.73,-25.63,17.5],"L_gripper":[145.14,0.0,245.61],"R_ankle_pitch_link":[-62.57,-0.63,55.0],"R_foot":[-62.27,-25.63,17.5],"R_gripper":[-154.98,0.0,245.61]}},{"sample":130,"time":2.6,"margin":46.86,"clearance":0.0,"forward":0.61,"support":"D","com":[-5.35,0.03,346.79],"links":{"base_link":[-6.26,0.0,387.59],"L_hip_yaw_link":[56.24,0.0,407.59],"R_hip_yaw_link":[-68.76,0.0,407.59],"torso":[-6.26,0.0,510.09],"neck_pan_link":[-6.26,0.0,622.59],"head":[-6.26,0.0,703.59],"L_hip_roll_link":[56.24,0.0,387.59],"L_shoulder_pitch_link":[83.74,0.0,587.59],"L_upper_arm":[85.64,0.0,515.06],"R_hip_roll_link":[-68.76,0.0,387.59],"R_shoulder_pitch_link":[-96.26,0.0,587.59],"R_upper_arm":[-98.17,0.0,515.06],"L_forearm":[132.43,0.0,371.23],"L_thigh":[58.08,-9.75,288.21],"L_shin":[61.07,-9.5,127.44],"L_hand":[134.99,0.0,273.81],"R_forearm":[-144.96,0.0,371.23],"R_thigh":[-66.92,-9.75,288.21],"R_shin":[-63.93,-9.5,127.44],"R_hand":[-147.51,0.0,273.81],"L_ankle_pitch_link":[62.42,-0.61,55.0],"L_foot":[62.79,-25.61,17.5],"L_gripper":[145.72,0.0,246.08],"R_ankle_pitch_link":[-62.58,-0.61,55.0],"R_foot":[-62.21,-25.61,17.5],"R_gripper":[-158.24,0.0,246.08]}},{"sample":135,"time":2.7,"margin":46.79,"clearance":0.0,"forward":0.59,"support":"D","com":[-6.49,0.13,346.91],"links":{"base_link":[-7.77,0.0,387.72],"L_hip_yaw_link":[54.73,0.0,407.72],"R_hip_yaw_link":[-70.27,0.0,407.72],"torso":[-7.77,0.0,510.22],"neck_pan_link":[-7.77,0.0,622.72],"head":[-7.77,0.0,703.72],"L_hip_roll_link":[54.73,0.0,387.72],"L_shoulder_pitch_link":[82.23,0.0,587.72],"L_upper_arm":[84.59,0.0,515.2],"R_hip_roll_link":[-70.27,0.0,387.72],"R_shoulder_pitch_link":[-97.77,0.0,587.72],"R_upper_arm":[-100.13,0.0,515.2],"L_forearm":[132.29,0.0,371.67],"L_thigh":[57.02,-9.41,288.3],"L_shin":[60.73,-9.18,127.47],"L_hand":[135.46,0.0,274.26],"R_forearm":[-147.83,0.0,371.67],"R_thigh":[-67.98,-9.41,288.3],"R_shin":[-64.27,-9.18,127.47],"R_hand":[-151.0,0.0,274.26],"L_ankle_pitch_link":[62.4,-0.59,54.99],"L_foot":[62.86,-25.59,17.5],"L_gripper":[146.36,0.0,246.6],"R_ankle_pitch_link":[-62.6,-0.59,54.99],"R_foot":[-62.14,-25.59,17.5],"R_gripper":[-161.9,0.0,246.6]}},{"sample":140,"time":2.8,"margin":46.71,"clearance":0.0,"forward":0.57,"support":"D","com":[-7.75,0.23,347.04],"links":{"base_link":[-9.43,0.0,387.84],"L_hip_yaw_link":[53.07,0.0,407.84],"R_hip_yaw_link":[-71.93,0.0,407.84],"torso":[-9.43,0.0,510.34],"neck_pan_link":[-9.43,0.0,622.84],"head":[-9.43,0.0,703.84],"L_hip_roll_link":[53.07,0.0,387.84],"L_shoulder_pitch_link":[80.57,0.0,587.84],"L_upper_arm":[83.44,0.0,515.35],"R_hip_roll_link":[-71.93,0.0,387.84],"R_shoulder_pitch_link":[-99.43,0.0,587.84],"R_upper_arm":[-102.29,0.0,515.35],"L_forearm":[132.13,0.0,372.15],"L_thigh":[55.85,-9.04,288.39],"L_shin":[60.36,-8.82,127.5],"L_hand":[135.98,0.0,274.76],"R_forearm":[-150.99,0.0,372.15],"R_thigh":[-69.15,-9.04,288.39],"R_shin":[-64.64,-8.82,127.5],"R_hand":[-154.83,0.0,274.76],"L_ankle_pitch_link":[62.39,-0.57,54.99],"L_foot":[62.94,-25.57,17.5],"L_gripper":[147.07,0.0,247.18],"R_ankle_pitch_link":[-62.61,-0.57,54.99],"R_foot":[-62.06,-25.57,17.5],"R_gripper":[-165.93,0.0,247.18]}},{"sample":145,"time":2.9,"margin":46.62,"clearance":0.0,"forward":0.54,"support":"D","com":[-9.12,0.34,347.16],"links":{"base_link":[-11.23,0.0,387.96],"L_hip_yaw_link":[51.27,0.0,407.96],"R_hip_yaw_link":[-73.73,0.0,407.96],"torso":[-11.23,0.0,510.46],"neck_pan_link":[-11.23,0.0,622.96],"head":[-11.23,0.0,703.96],"L_hip_roll_link":[51.27,0.0,387.96],"L_shoulder_pitch_link":[78.77,0.0,587.96],"L_upper_arm":[82.18,0.0,515.49],"R_hip_roll_link":[-73.73,0.0,387.96],"R_shoulder_pitch_link":[-101.23,0.0,587.96],"R_upper_arm":[-104.64,0.0,515.49],"L_forearm":[131.95,0.0,372.66],"L_thigh":[54.59,-8.64,288.48],"L_shin":[59.95,-8.43,127.52],"L_hand":[136.54,0.0,275.31],"R_forearm":[-154.41,0.0,372.66],"R_thigh":[-70.41,-8.64,288.48],"R_shin":[-65.05,-8.43,127.52],"R_hand":[-159.0,0.0,275.31],"L_ankle_pitch_link":[62.37,-0.54,54.99],"L_foot":[63.04,-25.54,17.5],"L_gripper":[147.84,0.0,247.81],"R_ankle_pitch_link":[-62.63,-0.54,54.99],"R_foot":[-61.96,-25.54,17.5],"R_gripper":[-170.3,0.0,247.81]}},{"sample":150,"time":3.0,"margin":46.53,"clearance":0.0,"forward":0.51,"support":"D","com":[-10.58,0.45,347.28],"links":{"base_link":[-13.16,0.0,388.07],"L_hip_yaw_link":[49.34,0.0,408.07],"R_hip_yaw_link":[-75.66,0.0,408.07],"torso":[-13.16,0.0,510.57],"neck_pan_link":[-13.16,0.0,623.07],"head":[-13.16,0.0,704.07],"L_hip_roll_link":[49.34,0.0,388.07],"L_shoulder_pitch_link":[76.84,0.0,588.07],"L_upper_arm":[80.84,0.0,515.62],"R_hip_roll_link":[-75.66,0.0,388.07],"R_shoulder_pitch_link":[-103.16,0.0,588.07],"R_upper_arm":[-107.16,0.0,515.62],"L_forearm":[131.76,0.0,373.2],"L_thigh":[53.23,-8.22,288.56],"L_shin":[59.52,-8.01,127.54],"L_hand":[137.13,0.0,275.89],"R_forearm":[-158.08,0.0,373.2],"R_thigh":[-71.77,-8.22,288.56],"R_shin":[-65.48,-8.01,127.54],"R_hand":[-163.45,0.0,275.89],"L_ankle_pitch_link":[62.35,-0.51,54.98],"L_foot":[63.13,-25.51,17.5],"L_gripper":[148.66,0.0,248.49],"R_ankle_pitch_link":[-62.65,-0.51,54.98],"R_foot":[-61.87,-25.51,17.5],"R_gripper":[-174.98,0.0,248.49]}},{"sample":155,"time":3.1,"margin":46.44,"clearance":0.0,"forward":0.49,"support":"D","com":[-12.13,0.58,347.39],"links":{"base_link":[-15.2,0.0,388.15],"L_hip_yaw_link":[47.3,0.0,408.15],"R_hip_yaw_link":[-77.7,0.0,408.15],"torso":[-15.2,0.0,510.65],"neck_pan_link":[-15.2,0.0,623.15],"head":[-15.2,0.0,704.15],"L_hip_roll_link":[47.3,0.0,388.15],"L_shoulder_pitch_link":[74.8,0.0,588.15],"L_upper_arm":[79.42,0.0,515.75],"R_hip_roll_link":[-77.7,0.0,388.15],"R_shoulder_pitch_link":[-105.2,0.0,588.15],"R_upper_arm":[-109.81,0.0,515.75],"L_forearm":[131.56,0.0,373.77],"L_thigh":[51.79,-7.76,288.63],"L_shin":[59.06,-7.57,127.56],"L_hand":[137.76,0.0,276.51],"R_forearm":[-161.95,0.0,373.77],"R_thigh":[-73.21,-7.76,288.63],"R_shin":[-65.94,-7.57,127.56],"R_hand":[-168.15,0.0,276.51],"L_ankle_pitch_link":[62.34,-0.49,54.98],"L_foot":[63.24,-25.49,17.5],"L_gripper":[149.52,0.0,249.2],"R_ankle_pitch_link":[-62.66,-0.49,54.98],"R_foot":[-61.76,-25.49,17.5],"R_gripper":[-179.92,0.0,249.2]}},{"sample":160,"time":3.2,"margin":46.34,"clearance":0.0,"forward":0.46,"support":"D","com":[-13.75,0.71,347.49],"links":{"base_link":[-17.33,0.0,388.22],"L_hip_yaw_link":[45.17,0.0,408.22],"R_hip_yaw_link":[-79.83,0.0,408.22],"torso":[-17.33,0.0,510.72],"neck_pan_link":[-17.33,0.0,623.22],"head":[-17.33,0.0,704.22],"L_hip_roll_link":[45.17,0.0,388.22],"L_shoulder_pitch_link":[72.67,0.0,588.22],"L_upper_arm":[77.93,0.0,515.86],"R_hip_roll_link":[-79.83,0.0,388.22],"R_shoulder_pitch_link":[-107.33,0.0,588.22],"R_upper_arm":[-112.59,0.0,515.86],"L_forearm":[131.34,0.0,374.35],"L_thigh":[50.29,-7.29,288.69],"L_shin":[58.58,-7.11,127.57],"L_hand":[138.4,0.0,277.15],"R_forearm":[-166.0,0.0,374.35],"R_thigh":[-74.71,-7.29,288.69],"R_shin":[-66.42,-7.11,127.57],"R_hand":[-173.07,0.0,277.15],"L_ankle_pitch_link":[62.32,-0.46,54.97],"L_foot":[63.35,-25.46,17.5],"L_gripper":[150.41,0.0,249.95],"R_ankle_pitch_link":[-62.68,-0.46,54.97],"R_foot":[-61.65,-25.46,17.5],"R_gripper":[-185.07,0.0,249.95]}},{"sample":165,"time":3.3,"margin":46.23,"clearance":0.0,"forward":0.42,"support":"D","com":[-15.42,0.84,347.57],"links":{"base_link":[-19.54,0.0,388.27],"L_hip_yaw_link":[42.96,0.0,408.27],"R_hip_yaw_link":[-82.04,0.0,408.27],"torso":[-19.54,0.0,510.77],"neck_pan_link":[-19.54,0.0,623.27],"head":[-19.54,0.0,704.27],"L_hip_roll_link":[42.96,0.0,388.27],"L_shoulder_pitch_link":[70.46,0.0,588.27],"L_upper_arm":[76.39,0.0,515.96],"R_hip_roll_link":[-82.04,0.0,388.27],"R_shoulder_pitch_link":[-109.54,0.0,588.27],"R_upper_arm":[-115.47,0.0,515.96],"L_forearm":[131.1,0.0,374.95],"L_thigh":[48.74,-6.8,288.72],"L_shin":[58.09,-6.63,127.58],"L_hand":[139.07,0.0,277.81],"R_forearm":[-170.18,0.0,374.95],"R_thigh":[-76.26,-6.8,288.72],"R_shin":[-66.91,-6.63,127.58],"R_hand":[-178.14,0.0,277.81],"L_ankle_pitch_link":[62.31,-0.42,54.97],"L_foot":[63.46,-25.42,17.5],"L_gripper":[151.33,0.0,250.73],"R_ankle_pitch_link":[-62.69,-0.42,54.97],"R_foot":[-61.54,-25.42,17.5],"R_gripper":[-190.4,0.0,250.73]}},{"sample":170,"time":3.4,"margin":46.13,"clearance":0.0,"forward":0.39,"support":"D","com":[-17.13,0.98,347.64],"links":{"base_link":[-21.79,0.0,388.28],"L_hip_yaw_link":[40.71,0.0,408.28],"R_hip_yaw_link":[-84.29,0.0,408.28],"torso":[-21.79,0.0,510.78],"neck_pan_link":[-21.79,0.0,623.28],"head":[-21.79,0.0,704.28],"L_hip_roll_link":[40.71,0.0,388.28],"L_shoulder_pitch_link":[68.21,0.0,588.28],"L_upper_arm":[74.82,0.0,516.03],"R_hip_roll_link":[-84.29,0.0,388.28],"R_shoulder_pitch_link":[-111.79,0.0,588.28],"R_upper_arm":[-118.41,0.0,516.03],"L_forearm":[130.86,0.0,375.55],"L_thigh":[47.15,-6.29,288.74],"L_shin":[57.59,-6.14,127.58],"L_hand":[139.75,0.0,278.49],"R_forearm":[-174.45,0.0,375.55],"R_thigh":[-77.85,-6.29,288.74],"R_shin":[-67.41,-6.14,127.58],"R_hand":[-183.33,0.0,278.49],"L_ankle_pitch_link":[62.29,-0.39,54.96],"L_foot":[63.58,-25.39,17.5],"L_gripper":[152.26,0.0,251.52],"R_ankle_pitch_link":[-62.71,-0.39,54.96],"R_foot":[-61.42,-25.39,17.5],"R_gripper":[-195.84,0.0,251.52]}},{"sample":175,"time":3.5,"margin":46.02,"clearance":0.0,"forward":0.36,"support":"D","com":[-18.87,1.12,347.69],"links":{"base_link":[-24.08,0.0,388.27],"L_hip_yaw_link":[38.42,0.0,408.27],"R_hip_yaw_link":[-86.58,0.0,408.27],"torso":[-24.08,0.0,510.77],"neck_pan_link":[-24.08,0.0,623.27],"head":[-24.08,0.0,704.27],"L_hip_roll_link":[38.42,0.0,388.27],"L_shoulder_pitch_link":[65.92,0.0,588.27],"L_upper_arm":[73.22,0.0,516.09],"R_hip_roll_link":[-86.58,0.0,388.27],"R_shoulder_pitch_link":[-114.08,0.0,588.27],"R_upper_arm":[-121.39,0.0,516.09],"L_forearm":[130.61,0.0,376.14],"L_thigh":[45.54,-5.79,288.74],"L_shin":[57.08,-5.64,127.57],"L_hand":[140.42,0.0,279.18],"R_forearm":[-178.77,0.0,376.14],"R_thigh":[-79.46,-5.79,288.74],"R_shin":[-67.92,-5.64,127.57],"R_hand":[-188.59,0.0,279.18],"L_ankle_pitch_link":[62.28,-0.36,54.95],"L_foot":[63.7,-25.36,17.5],"L_gripper":[153.19,0.0,252.33],"R_ankle_pitch_link":[-62.72,-0.36,54.95],"R_foot":[-61.3,-25.36,17.5],"R_gripper":[-201.35,0.0,252.33]}},{"sample":180,"time":3.6,"margin":45.91,"clearance":0.0,"forward":0.33,"support":"D","com":[-20.61,1.26,347.71],"links":{"base_link":[-26.38,0.0,388.23],"L_hip_yaw_link":[36.12,0.0,408.23],"R_hip_yaw_link":[-88.88,0.0,408.23],"torso":[-26.38,0.0,510.73],"neck_pan_link":[-26.38,0.0,623.23],"head":[-26.38,0.0,704.23],"L_hip_roll_link":[36.12,0.0,388.23],"L_shoulder_pitch_link":[63.62,0.0,588.23],"L_upper_arm":[71.62,0.0,516.12],"R_hip_roll_link":[-88.88,0.0,388.23],"R_shoulder_pitch_link":[-116.38,0.0,588.23],"R_upper_arm":[-124.38,0.0,516.12],"L_forearm":[130.35,0.0,376.73],"L_thigh":[43.93,-5.27,288.71],"L_shin":[56.57,-5.14,127.56],"L_hand":[141.1,0.0,279.87],"R_forearm":[-183.11,0.0,376.73],"R_thigh":[-81.07,-5.27,288.71],"R_shin":[-68.43,-5.14,127.56],"R_hand":[-193.85,0.0,279.87],"L_ankle_pitch_link":[62.26,-0.33,54.94],"L_foot":[63.82,-25.33,17.5],"L_gripper":[154.12,0.0,253.15],"R_ankle_pitch_link":[-62.74,-0.33,54.94],"R_foot":[-61.18,-25.33,17.5],"R_gripper":[-206.88,0.0,253.15]}},{"sample":185,"time":3.7,"margin":45.8,"clearance":0.0,"forward":0.3,"support":"D","com":[-22.34,1.4,347.72],"links":{"base_link":[-28.66,0.0,388.16],"L_hip_yaw_link":[33.84,0.0,408.16],"R_hip_yaw_link":[-91.16,0.0,408.16],"torso":[-28.66,0.0,510.66],"neck_pan_link":[-28.66,0.0,623.16],"head":[-28.66,0.0,704.16],"L_hip_roll_link":[33.84,0.0,388.16],"L_shoulder_pitch_link":[61.34,0.0,588.16],"L_upper_arm":[70.03,0.0,516.13],"R_hip_roll_link":[-91.16,0.0,388.16],"R_shoulder_pitch_link":[-118.66,0.0,588.16],"R_upper_arm":[-127.35,0.0,516.13],"L_forearm":[130.09,0.0,377.31],"L_thigh":[42.32,-4.76,288.66],"L_shin":[56.06,-4.65,127.53],"L_hand":[141.76,0.0,280.56],"R_forearm":[-187.41,0.0,377.31],"R_thigh":[-82.68,-4.76,288.66],"R_shin":[-68.94,-4.65,127.53],"R_hand":[-199.08,0.0,280.56],"L_ankle_pitch_link":[62.25,-0.3,54.93],"L_foot":[63.94,-25.3,17.5],"L_gripper":[155.04,0.0,253.96],"R_ankle_pitch_link":[-62.75,-0.3,54.93],"R_foot":[-61.06,-25.3,17.5],"R_gripper":[-212.36,0.0,253.96]}},{"sample":190,"time":3.8,"margin":45.7,"clearance":0.0,"forward":0.27,"support":"D","com":[-24.05,1.53,347.7],"links":{"base_link":[-30.91,0.0,388.06],"L_hip_yaw_link":[31.59,0.0,408.06],"R_hip_yaw_link":[-93.41,0.0,408.06],"torso":[-30.91,0.0,510.56],"neck_pan_link":[-30.91,0.0,623.06],"head":[-30.91,0.0,704.06],"L_hip_roll_link":[31.59,0.0,388.06],"L_shoulder_pitch_link":[59.09,0.0,588.06],"L_upper_arm":[68.46,0.0,516.12],"R_hip_roll_link":[-93.41,0.0,388.06],"R_shoulder_pitch_link":[-120.91,0.0,588.06],"R_upper_arm":[-130.28,0.0,516.12],"L_forearm":[129.82,0.0,377.87],"L_thigh":[40.74,-4.26,288.6],"L_shin":[55.55,-4.16,127.51],"L_hand":[142.4,0.0,281.23],"R_forearm":[-191.64,0.0,377.87],"R_thigh":[-84.26,-4.26,288.6],"R_shin":[-69.45,-4.16,127.51],"R_hand":[-204.22,0.0,281.23],"L_ankle_pitch_link":[62.23,-0.27,54.92],"L_foot":[64.06,-25.27,17.5],"L_gripper":[155.94,0.0,254.76],"R_ankle_pitch_link":[-62.77,-0.27,54.92],"R_foot":[-60.94,-25.27,17.5],"R_gripper":[-217.75,0.0,254.76]}},{"sample":195,"time":3.9,"margin":45.6,"clearance":0.0,"forward":0.24,"support":"D","com":[-25.71,1.67,347.67],"links":{"base_link":[-33.1,0.0,387.94],"L_hip_yaw_link":[29.4,0.0,407.94],"R_hip_yaw_link":[-95.6,0.0,407.94],"torso":[-33.1,0.0,510.44],"neck_pan_link":[-33.1,0.0,622.94],"head":[-33.1,0.0,703.94],"L_hip_roll_link":[29.4,0.0,387.94],"L_shoulder_pitch_link":[56.9,0.0,587.94],"L_upper_arm":[66.93,0.0,516.08],"R_hip_roll_link":[-95.6,0.0,387.94],"R_shoulder_pitch_link":[-123.1,0.0,587.94],"R_upper_arm":[-133.13,0.0,516.08],"L_forearm":[129.56,0.0,378.41],"L_thigh":[39.2,-3.77,288.51],"L_shin":[55.06,-3.68,127.47],"L_hand":[143.03,0.0,281.89],"R_forearm":[-195.76,0.0,378.41],"R_thigh":[-85.8,-3.77,288.51],"R_shin":[-69.94,-3.68,127.47],"R_hand":[-209.23,0.0,281.89],"L_ankle_pitch_link":[62.21,-0.24,54.9],"L_foot":[64.17,-25.24,17.5],"L_gripper":[156.8,0.0,255.54],"R_ankle_pitch_link":[-62.79,-0.24,54.9],"R_foot":[-60.83,-25.24,17.5],"R_gripper":[-223.0,0.0,255.54]}},{"sample":200,"time":4.0,"margin":45.5,"clearance":0.0,"forward":0.21,"support":"D","com":[-27.32,1.8,347.62],"links":{"base_link":[-35.22,0.0,387.8],"L_hip_yaw_link":[27.28,0.0,407.8],"R_hip_yaw_link":[-97.72,0.0,407.8],"torso":[-35.22,0.0,510.3],"neck_pan_link":[-35.22,0.0,622.8],"head":[-35.22,0.0,703.8],"L_hip_roll_link":[27.28,0.0,387.8],"L_shoulder_pitch_link":[54.78,0.0,587.8],"L_upper_arm":[65.45,0.0,516.03],"R_hip_roll_link":[-97.72,0.0,387.8],"R_shoulder_pitch_link":[-125.22,0.0,587.8],"R_upper_arm":[-135.88,0.0,516.03],"L_forearm":[129.29,0.0,378.92],"L_thigh":[37.71,-3.3,288.41],"L_shin":[54.59,-3.22,127.43],"L_hand":[143.62,0.0,282.52],"R_forearm":[-199.73,0.0,378.92],"R_thigh":[-87.29,-3.3,288.41],"R_shin":[-70.41,-3.22,127.43],"R_hand":[-214.05,0.0,282.52],"L_ankle_pitch_link":[62.2,-0.21,54.89],"L_foot":[64.28,-25.21,17.5],"L_gripper":[157.63,0.0,256.29],"R_ankle_pitch_link":[-62.8,-0.21,54.89],"R_foot":[-60.72,-25.21,17.5],"R_gripper":[-228.06,0.0,256.29]}},{"sample":205,"time":4.1,"margin":45.4,"clearance":0.0,"forward":0.18,"support":"D","com":[-28.85,1.92,347.55],"links":{"base_link":[-37.24,0.0,387.64],"L_hip_yaw_link":[25.26,0.0,407.64],"R_hip_yaw_link":[-99.74,0.0,407.64],"torso":[-37.24,0.0,510.14],"neck_pan_link":[-37.24,0.0,622.64],"head":[-37.24,0.0,703.64],"L_hip_roll_link":[25.26,0.0,387.64],"L_shoulder_pitch_link":[52.76,0.0,587.64],"L_upper_arm":[64.03,0.0,515.96],"R_hip_roll_link":[-99.74,0.0,387.64],"R_shoulder_pitch_link":[-127.24,0.0,587.64],"R_upper_arm":[-138.51,0.0,515.96],"L_forearm":[129.04,0.0,379.39],"L_thigh":[36.28,-2.85,288.3],"L_shin":[54.13,-2.78,127.39],"L_hand":[144.18,0.0,283.12],"R_forearm":[-203.51,0.0,379.39],"R_thigh":[-88.72,-2.85,288.3],"R_shin":[-70.87,-2.78,127.39],"R_hand":[-218.65,0.0,283.12],"L_ankle_pitch_link":[62.18,-0.18,54.88],"L_foot":[64.38,-25.18,17.5],"L_gripper":[158.41,0.0,257.01],"R_ankle_pitch_link":[-62.82,-0.18,54.88],"R_foot":[-60.62,-25.18,17.5],"R_gripper":[-232.88,0.0,257.01]}},{"sample":210,"time":4.2,"margin":45.31,"clearance":0.0,"forward":0.15,"support":"D","com":[-30.29,2.04,347.48],"links":{"base_link":[-39.14,0.0,387.46],"L_hip_yaw_link":[23.36,0.0,407.46],"R_hip_yaw_link":[-101.64,0.0,407.46],"torso":[-39.14,0.0,509.96],"neck_pan_link":[-39.14,0.0,622.46],"head":[-39.14,0.0,703.46],"L_hip_roll_link":[23.36,0.0,387.46],"L_shoulder_pitch_link":[50.86,0.0,587.46],"L_upper_arm":[62.7,0.0,515.88],"R_hip_roll_link":[-101.64,0.0,387.46],"R_shoulder_pitch_link":[-129.14,0.0,587.46],"R_upper_arm":[-140.98,0.0,515.88],"L_forearm":[128.79,0.0,379.84],"L_thigh":[34.94,-2.43,288.18],"L_shin":[53.7,-2.37,127.34],"L_hand":[144.7,0.0,283.69],"R_forearm":[-207.07,0.0,379.84],"R_thigh":[-90.06,-2.43,288.18],"R_shin":[-71.3,-2.37,127.34],"R_hand":[-222.98,0.0,283.69],"L_ankle_pitch_link":[62.16,-0.15,54.87],"L_foot":[64.48,-25.15,17.5],"L_gripper":[159.14,0.0,257.69],"R_ankle_pitch_link":[-62.84,-0.15,54.87],"R_foot":[-60.52,-25.15,17.5],"R_gripper":[-237.42,0.0,257.69]}},{"sample":215,"time":4.3,"margin":45.23,"clearance":0.0,"forward":0.13,"support":"D","com":[-31.64,2.15,347.39],"links":{"base_link":[-40.91,0.0,387.29],"L_hip_yaw_link":[21.59,0.0,407.29],"R_hip_yaw_link":[-103.41,0.0,407.29],"torso":[-40.91,0.0,509.79],"neck_pan_link":[-40.91,0.0,622.29],"head":[-40.91,0.0,703.29],"L_hip_roll_link":[21.59,0.0,387.29],"L_shoulder_pitch_link":[49.09,0.0,587.29],"L_upper_arm":[61.46,0.0,515.8],"R_hip_roll_link":[-103.41,0.0,387.29],"R_shoulder_pitch_link":[-130.91,0.0,587.29],"R_upper_arm":[-143.29,0.0,515.8],"L_forearm":[128.56,0.0,380.24],"L_thigh":[33.69,-2.03,288.05],"L_shin":[53.3,-1.98,127.29],"L_hand":[145.18,0.0,284.21],"R_forearm":[-210.39,0.0,380.24],"R_thigh":[-91.31,-2.03,288.05],"R_shin":[-71.7,-1.98,127.29],"R_hand":[-227.01,0.0,284.21],"L_ankle_pitch_link":[62.14,-0.13,54.85],"L_foot":[64.56,-25.13,17.5],"L_gripper":[159.81,0.0,258.33],"R_ankle_pitch_link":[-62.86,-0.13,54.85],"R_foot":[-60.44,-25.13,17.5],"R_gripper":[-241.64,0.0,258.33]}},{"sample":220,"time":4.4,"margin":45.15,"clearance":0.0,"forward":0.1,"support":"D","com":[-32.88,2.25,347.31],"links":{"base_link":[-42.54,0.0,387.11],"L_hip_yaw_link":[19.96,0.0,407.11],"R_hip_yaw_link":[-105.04,0.0,407.11],"torso":[-42.54,0.0,509.61],"neck_pan_link":[-42.54,0.0,622.11],"head":[-42.54,0.0,703.11],"L_hip_roll_link":[19.96,0.0,387.11],"L_shoulder_pitch_link":[47.46,0.0,587.11],"L_upper_arm":[60.32,0.0,515.7],"R_hip_roll_link":[-105.04,0.0,387.11],"R_shoulder_pitch_link":[-132.54,0.0,587.11],"R_upper_arm":[-145.41,0.0,515.7],"L_forearm":[128.34,0.0,380.61],"L_thigh":[32.54,-1.67,287.92],"L_shin":[52.93,-1.62,127.24],"L_hand":[145.62,0.0,284.7],"R_forearm":[-213.43,0.0,380.61],"R_thigh":[-92.46,-1.67,287.92],"R_shin":[-72.07,-1.62,127.24],"R_hand":[-230.71,0.0,284.7],"L_ankle_pitch_link":[62.12,-0.1,54.84],"L_foot":[64.64,-25.1,17.5],"L_gripper":[160.42,0.0,258.91],"R_ankle_pitch_link":[-62.88,-0.1,54.84],"R_foot":[-60.36,-25.1,17.5],"R_gripper":[-245.51,0.0,258.91]}},{"sample":225,"time":4.5,"margin":45.08,"clearance":0.0,"forward":0.08,"support":"D","com":[-34.0,2.34,347.22],"links":{"base_link":[-44.02,0.0,386.93],"L_hip_yaw_link":[18.48,0.0,406.93],"R_hip_yaw_link":[-106.52,0.0,406.93],"torso":[-44.02,0.0,509.43],"neck_pan_link":[-44.02,0.0,621.93],"head":[-44.02,0.0,702.93],"L_hip_roll_link":[18.48,0.0,386.93],"L_shoulder_pitch_link":[45.98,0.0,586.93],"L_upper_arm":[59.28,0.0,515.61],"R_hip_roll_link":[-106.52,0.0,386.93],"R_shoulder_pitch_link":[-134.02,0.0,586.93],"R_upper_arm":[-147.32,0.0,515.61],"L_forearm":[128.14,0.0,380.94],"L_thigh":[31.5,-1.34,287.8],"L_shin":[52.6,-1.3,127.2],"L_hand":[146.01,0.0,285.14],"R_forearm":[-216.18,0.0,380.94],"R_thigh":[-93.5,-1.34,287.8],"R_shin":[-72.4,-1.3,127.2],"R_hand":[-234.05,0.0,285.14],"L_ankle_pitch_link":[62.1,-0.08,54.83],"L_foot":[64.71,-25.08,17.5],"L_gripper":[160.97,0.0,259.44],"R_ankle_pitch_link":[-62.9,-0.08,54.83],"R_foot":[-60.29,-25.08,17.5],"R_gripper":[-249.01,0.0,259.44]}},{"sample":230,"time":4.6,"margin":45.02,"clearance":0.0,"forward":0.07,"support":"D","com":[-35.0,2.42,347.14],"links":{"base_link":[-45.33,0.0,386.77],"L_hip_yaw_link":[17.17,0.0,406.77],"R_hip_yaw_link":[-107.83,0.0,406.77],"torso":[-45.33,0.0,509.27],"neck_pan_link":[-45.33,0.0,621.77],"head":[-45.33,0.0,702.77],"L_hip_roll_link":[17.17,0.0,386.77],"L_shoulder_pitch_link":[44.67,0.0,586.77],"L_upper_arm":[58.37,0.0,515.52],"R_hip_roll_link":[-107.83,0.0,386.77],"R_shoulder_pitch_link":[-135.33,0.0,586.77],"R_upper_arm":[-149.02,0.0,515.52],"L_forearm":[127.96,0.0,381.23],"L_thigh":[30.58,-1.04,287.68],"L_shin":[52.3,-1.02,127.15],"L_hand":[146.35,0.0,285.52],"R_forearm":[-218.62,0.0,381.23],"R_thigh":[-94.42,-1.04,287.68],"R_shin":[-72.7,-1.02,127.15],"R_hand":[-237.01,0.0,285.52],"L_ankle_pitch_link":[62.09,-0.07,54.82],"L_foot":[64.77,-25.07,17.5],"L_gripper":[161.46,0.0,259.91],"R_ankle_pitch_link":[-62.91,-0.07,54.82],"R_foot":[-60.23,-25.07,17.5],"R_gripper":[-252.11,0.0,259.91]}},{"sample":235,"time":4.7,"margin":44.97,"clearance":0.0,"forward":0.05,"support":"D","com":[-35.86,2.48,347.06],"links":{"base_link":[-46.47,0.0,386.62],"L_hip_yaw_link":[16.03,0.0,406.62],"R_hip_yaw_link":[-108.97,0.0,406.62],"torso":[-46.47,0.0,509.12],"neck_pan_link":[-46.47,0.0,621.62],"head":[-46.47,0.0,702.62],"L_hip_roll_link":[16.03,0.0,386.62],"L_shoulder_pitch_link":[43.53,0.0,586.62],"L_upper_arm":[57.57,0.0,515.43],"R_hip_roll_link":[-108.97,0.0,386.62],"R_shoulder_pitch_link":[-136.47,0.0,586.62],"R_upper_arm":[-150.5,0.0,515.43],"L_forearm":[127.8,0.0,381.48],"L_thigh":[29.78,-0.79,287.57],"L_shin":[52.04,-0.77,127.11],"L_hand":[146.65,0.0,285.86],"R_forearm":[-220.73,0.0,381.48],"R_thigh":[-95.22,-0.79,287.57],"R_shin":[-72.96,-0.77,127.11],"R_hand":[-239.58,0.0,285.86],"L_ankle_pitch_link":[62.07,-0.05,54.81],"L_foot":[64.82,-25.05,17.5],"L_gripper":[161.88,0.0,260.32],"R_ankle_pitch_link":[-62.93,-0.05,54.81],"R_foot":[-60.18,-25.05,17.5],"R_gripper":[-254.81,0.0,260.32]}},{"sample":240,"time":4.8,"margin":44.92,"clearance":0.0,"forward":0.04,"support":"D","com":[-36.6,2.54,346.99],"links":{"base_link":[-47.43,0.0,386.48],"L_hip_yaw_link":[15.07,0.0,406.48],"R_hip_yaw_link":[-109.93,0.0,406.48],"torso":[-47.43,0.0,508.98],"neck_pan_link":[-47.43,0.0,621.48],"head":[-47.43,0.0,702.48],"L_hip_roll_link":[15.07,0.0,386.48],"L_shoulder_pitch_link":[42.57,0.0,586.48],"L_upper_arm":[56.89,0.0,515.36],"R_hip_roll_link":[-109.93,0.0,386.48],"R_shoulder_pitch_link":[-137.43,0.0,586.48],"R_upper_arm":[-151.75,0.0,515.36],"L_forearm":[127.66,0.0,381.69],"L_thigh":[29.09,-0.57,287.47],"L_shin":[51.82,-0.56,127.08],"L_hand":[146.9,0.0,286.15],"R_forearm":[-222.53,0.0,381.69],"R_thigh":[-95.91,-0.57,287.47],"R_shin":[-73.18,-0.56,127.08],"R_hand":[-241.76,0.0,286.15],"L_ankle_pitch_link":[62.06,-0.04,54.8],"L_foot":[64.86,-25.04,17.5],"L_gripper":[162.23,0.0,260.67],"R_ankle_pitch_link":[-62.94,-0.04,54.8],"R_foot":[-60.14,-25.04,17.5],"R_gripper":[-257.09,0.0,260.67]}},{"sample":245,"time":4.9,"margin":44.88,"clearance":0.0,"forward":0.02,"support":"D","com":[-37.2,2.59,346.92],"links":{"base_link":[-48.23,0.0,386.37],"L_hip_yaw_link":[14.27,0.0,406.37],"R_hip_yaw_link":[-110.73,0.0,406.37],"torso":[-48.23,0.0,508.87],"neck_pan_link":[-48.23,0.0,621.37],"head":[-48.23,0.0,702.37],"L_hip_roll_link":[14.27,0.0,386.37],"L_shoulder_pitch_link":[41.77,0.0,586.37],"L_upper_arm":[56.33,0.0,515.29],"R_hip_roll_link":[-110.73,0.0,386.37],"R_shoulder_pitch_link":[-138.23,0.0,586.37],"R_upper_arm":[-152.78,0.0,515.29],"L_forearm":[127.55,0.0,381.86],"L_thigh":[28.53,-0.4,287.39],"L_shin":[51.64,-0.39,127.05],"L_hand":[147.1,0.0,286.38],"R_forearm":[-224.0,0.0,381.86],"R_thigh":[-96.47,-0.4,287.39],"R_shin":[-73.36,-0.39,127.05],"R_hand":[-243.56,0.0,286.38],"L_ankle_pitch_link":[62.05,-0.02,54.8],"L_foot":[64.9,-25.02,17.5],"L_gripper":[162.52,0.0,260.96],"R_ankle_pitch_link":[-62.95,-0.02,54.8],"R_foot":[-60.1,-25.02,17.5],"R_gripper":[-258.97,0.0,260.96]}},{"sample":250,"time":5.0,"margin":44.85,"clearance":0.0,"forward":0.02,"support":"D","com":[-37.68,2.63,346.87],"links":{"base_link":[-48.85,0.0,386.28],"L_hip_yaw_link":[13.65,0.0,406.28],"R_hip_yaw_link":[-111.35,0.0,406.28],"torso":[-48.85,0.0,508.78],"neck_pan_link":[-48.85,0.0,621.28],"head":[-48.85,0.0,702.28],"L_hip_roll_link":[13.65,0.0,386.28],"L_shoulder_pitch_link":[41.15,0.0,586.28],"L_upper_arm":[55.89,0.0,515.24],"R_hip_roll_link":[-111.35,0.0,386.28],"R_shoulder_pitch_link":[-138.85,0.0,586.28],"R_upper_arm":[-153.6,0.0,515.24],"L_forearm":[127.46,0.0,381.99],"L_thigh":[28.09,-0.26,287.32],"L_shin":[51.49,-0.25,127.02],"L_hand":[147.27,0.0,286.57],"R_forearm":[-225.17,0.0,381.99],"R_thigh":[-96.91,-0.26,287.32],"R_shin":[-73.51,-0.25,127.02],"R_hand":[-244.97,0.0,286.57],"L_ankle_pitch_link":[62.04,-0.02,54.79],"L_foot":[64.92,-25.02,17.5],"L_gripper":[162.75,0.0,261.18],"R_ankle_pitch_link":[-62.96,-0.02,54.79],"R_foot":[-60.08,-25.02,17.5],"R_gripper":[-260.45,0.0,261.18]}},{"sample":255,"time":5.1,"margin":44.83,"clearance":0.0,"forward":0.01,"support":"D","com":[-38.04,2.66,346.84],"links":{"base_link":[-49.32,0.0,386.2],"L_hip_yaw_link":[13.18,0.0,406.2],"R_hip_yaw_link":[-111.82,0.0,406.2],"torso":[-49.32,0.0,508.7],"neck_pan_link":[-49.32,0.0,621.2],"head":[-49.32,0.0,702.2],"L_hip_roll_link":[13.18,0.0,386.2],"L_shoulder_pitch_link":[40.68,0.0,586.2],"L_upper_arm":[55.56,0.0,515.19],"R_hip_roll_link":[-111.82,0.0,386.2],"R_shoulder_pitch_link":[-139.32,0.0,586.2],"R_upper_arm":[-154.21,0.0,515.19],"L_forearm":[127.39,0.0,382.09],"L_thigh":[27.76,-0.15,287.27],"L_shin":[51.38,-0.15,127.01],"L_hand":[147.38,0.0,286.7],"R_forearm":[-226.04,0.0,382.09],"R_thigh":[-97.24,-0.15,287.27],"R_shin":[-73.62,-0.15,127.01],"R_hand":[-246.03,0.0,286.7],"L_ankle_pitch_link":[62.03,-0.01,54.79],"L_foot":[64.94,-25.01,17.5],"L_gripper":[162.92,0.0,261.35],"R_ankle_pitch_link":[-62.97,-0.01,54.79],"R_foot":[-60.06,-25.01,17.5],"R_gripper":[-261.56,0.0,261.35]}},{"sample":260,"time":5.2,"margin":44.82,"clearance":0.0,"forward":0.0,"support":"D","com":[-38.28,2.68,346.81],"links":{"base_link":[-49.65,0.0,386.15],"L_hip_yaw_link":[12.85,0.0,406.15],"R_hip_yaw_link":[-112.15,0.0,406.15],"torso":[-49.65,0.0,508.65],"neck_pan_link":[-49.65,0.0,621.15],"head":[-49.65,0.0,702.15],"L_hip_roll_link":[12.85,0.0,386.15],"L_shoulder_pitch_link":[40.35,0.0,586.15],"L_upper_arm":[55.33,0.0,515.17],"R_hip_roll_link":[-112.15,0.0,386.15],"R_shoulder_pitch_link":[-139.65,0.0,586.15],"R_upper_arm":[-154.63,0.0,515.17],"L_forearm":[127.35,0.0,382.16],"L_thigh":[27.53,-0.08,287.24],"L_shin":[51.31,-0.08,126.99],"L_hand":[147.47,0.0,286.8],"R_forearm":[-226.65,0.0,382.16],"R_thigh":[-97.47,-0.08,287.24],"R_shin":[-73.69,-0.08,126.99],"R_hand":[-246.77,0.0,286.8],"L_ankle_pitch_link":[62.02,-0.0,54.78],"L_foot":[64.96,-25.0,17.5],"L_gripper":[163.03,0.0,261.47],"R_ankle_pitch_link":[-62.98,-0.0,54.78],"R_foot":[-60.04,-25.0,17.5],"R_gripper":[-262.33,0.0,261.47]}},{"sample":265,"time":5.3,"margin":44.81,"clearance":0.0,"forward":0.0,"support":"D","com":[-38.44,2.69,346.79],"links":{"base_link":[-49.85,0.0,386.12],"L_hip_yaw_link":[12.65,0.0,406.12],"R_hip_yaw_link":[-112.35,0.0,406.12],"torso":[-49.85,0.0,508.62],"neck_pan_link":[-49.85,0.0,621.12],"head":[-49.85,0.0,702.12],"L_hip_roll_link":[12.65,0.0,386.12],"L_shoulder_pitch_link":[40.15,0.0,586.12],"L_upper_arm":[55.19,0.0,515.15],"R_hip_roll_link":[-112.35,0.0,386.12],"R_shoulder_pitch_link":[-139.85,0.0,586.12],"R_upper_arm":[-154.9,0.0,515.15],"L_forearm":[127.32,0.0,382.2],"L_thigh":[27.38,-0.03,287.22],"L_shin":[51.26,-0.03,126.98],"L_hand":[147.52,0.0,286.86],"R_forearm":[-227.02,0.0,382.2],"R_thigh":[-97.62,-0.03,287.22],"R_shin":[-73.74,-0.03,126.98],"R_hand":[-247.23,0.0,286.86],"L_ankle_pitch_link":[62.02,-0.0,54.78],"L_foot":[64.97,-25.0,17.5],"L_gripper":[163.11,0.0,261.54],"R_ankle_pitch_link":[-62.98,-0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-262.82,0.0,261.54]}},{"sample":270,"time":5.4,"margin":44.8,"clearance":0.0,"forward":0.0,"support":"D","com":[-38.52,2.7,346.78],"links":{"base_link":[-49.96,0.0,386.11],"L_hip_yaw_link":[12.54,0.0,406.11],"R_hip_yaw_link":[-112.46,0.0,406.11],"torso":[-49.96,0.0,508.61],"neck_pan_link":[-49.96,0.0,621.11],"head":[-49.96,0.0,702.11],"L_hip_roll_link":[12.54,0.0,386.11],"L_shoulder_pitch_link":[40.04,0.0,586.11],"L_upper_arm":[55.11,0.0,515.14],"R_hip_roll_link":[-112.46,0.0,386.11],"R_shoulder_pitch_link":[-139.96,0.0,586.11],"R_upper_arm":[-155.03,0.0,515.14],"L_forearm":[127.3,0.0,382.22],"L_thigh":[27.31,-0.01,287.2],"L_shin":[51.24,-0.01,126.98],"L_hand":[147.55,0.0,286.89],"R_forearm":[-227.22,0.0,382.22],"R_thigh":[-97.69,-0.01,287.2],"R_shin":[-73.76,-0.01,126.98],"R_hand":[-247.47,0.0,286.89],"L_ankle_pitch_link":[62.02,-0.0,54.78],"L_foot":[64.97,-25.0,17.5],"L_gripper":[163.15,0.0,261.58],"R_ankle_pitch_link":[-62.98,-0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-263.07,0.0,261.58]}},{"sample":275,"time":5.5,"margin":44.8,"clearance":0.0,"forward":0.0,"support":"D","com":[-38.55,2.7,346.78],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[55.09,0.0,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-155.08,0.0,515.13],"L_forearm":[127.29,0.0,382.23],"L_thigh":[27.28,-0.0,287.2],"L_shin":[51.23,-0.0,126.98],"L_hand":[147.56,0.0,286.9],"R_forearm":[-227.29,0.0,382.23],"R_thigh":[-97.72,-0.0,287.2],"R_shin":[-73.77,-0.0,126.98],"R_hand":[-247.55,0.0,286.9],"L_ankle_pitch_link":[62.02,-0.0,54.78],"L_foot":[64.97,-25.0,17.5],"L_gripper":[163.16,0.0,261.59],"R_ankle_pitch_link":[-62.98,-0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-263.15,0.0,261.59]}},{"sample":279,"time":5.58,"margin":44.8,"clearance":0.0,"forward":-0.0,"support":"D","com":[-38.55,2.7,346.78],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[55.08,0.0,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-155.08,0.0,515.13],"L_forearm":[127.29,0.0,382.23],"L_thigh":[27.28,0.0,287.2],"L_shin":[51.23,0.0,126.98],"L_hand":[147.56,0.0,286.9],"R_forearm":[-227.29,0.0,382.23],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-247.56,0.0,286.9],"L_ankle_pitch_link":[62.02,0.0,54.78],"L_foot":[64.97,-25.0,17.5],"L_gripper":[163.16,0.0,261.59],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-263.16,0.0,261.59]}},{"sample":280,"time":5.6,"margin":23.52,"clearance":0.0,"forward":0.0,"support":"R","com":[-38.55,2.7,346.78],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[55.08,0.0,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-155.08,0.0,515.13],"L_forearm":[127.29,0.0,382.23],"L_thigh":[27.28,-0.0,287.2],"L_shin":[51.23,-0.0,126.98],"L_hand":[147.56,0.0,286.9],"R_forearm":[-227.29,0.0,382.23],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-247.56,0.0,286.9],"L_ankle_pitch_link":[62.02,-0.0,54.78],"L_foot":[64.97,-25.0,17.5],"L_gripper":[163.16,0.0,261.59],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-263.16,0.0,261.59]}},{"sample":285,"time":5.7,"margin":23.52,"clearance":0.0,"forward":0.0,"support":"R","com":[-38.55,2.69,346.78],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[55.08,0.0,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-155.08,0.0,515.13],"L_forearm":[127.29,0.0,382.23],"L_thigh":[27.28,-0.08,287.2],"L_shin":[51.23,-0.07,126.98],"L_hand":[147.56,0.0,286.9],"R_forearm":[-227.29,0.0,382.23],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-247.56,0.0,286.9],"L_ankle_pitch_link":[62.02,-0.0,54.78],"L_foot":[64.97,-25.0,17.5],"L_gripper":[163.16,0.0,261.59],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-263.16,0.0,261.59]}},{"sample":290,"time":5.8,"margin":23.52,"clearance":0.0,"forward":0.03,"support":"R","com":[-38.55,2.64,346.78],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[55.08,0.0,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-155.08,0.0,515.13],"L_forearm":[127.29,0.0,382.23],"L_thigh":[27.28,-0.42,287.2],"L_shin":[51.23,-0.41,126.98],"L_hand":[147.56,0.0,286.9],"R_forearm":[-227.29,0.0,382.23],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-247.56,0.0,286.9],"L_ankle_pitch_link":[62.02,-0.03,54.78],"L_foot":[64.97,-25.03,17.5],"L_gripper":[163.16,0.0,261.59],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-263.16,0.0,261.59]}},{"sample":295,"time":5.9,"margin":23.52,"clearance":0.03,"forward":0.07,"support":"R","com":[-38.55,2.54,346.78],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[55.08,0.0,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-155.08,0.0,515.13],"L_forearm":[127.29,0.0,382.23],"L_thigh":[27.28,-1.15,287.21],"L_shin":[51.22,-1.12,127.0],"L_hand":[147.56,0.0,286.9],"R_forearm":[-227.29,0.0,382.23],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-247.56,0.0,286.9],"L_ankle_pitch_link":[62.01,-0.07,54.81],"L_foot":[64.97,-25.07,17.53],"L_gripper":[163.16,0.0,261.59],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-263.16,0.0,261.59]}},{"sample":300,"time":6.0,"margin":23.52,"clearance":0.13,"forward":0.14,"support":"R","com":[-38.55,2.39,346.79],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[55.08,0.0,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-155.08,0.0,515.13],"L_forearm":[127.29,0.0,382.23],"L_thigh":[27.28,-2.31,287.23],"L_shin":[51.21,-2.25,127.08],"L_hand":[147.56,0.0,286.9],"R_forearm":[-227.29,0.0,382.23],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-247.56,0.0,286.9],"L_ankle_pitch_link":[62.0,-0.14,54.91],"L_foot":[64.95,-25.14,17.63],"L_gripper":[163.16,0.0,261.59],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-263.16,0.0,261.59]}},{"sample":305,"time":6.1,"margin":23.53,"clearance":0.36,"forward":0.24,"support":"R","com":[-38.56,2.17,346.81],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[55.08,0.0,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-155.08,0.0,515.13],"L_forearm":[127.29,0.0,382.23],"L_thigh":[27.27,-3.85,287.29],"L_shin":[51.18,-3.76,127.26],"L_hand":[147.56,0.0,286.9],"R_forearm":[-227.29,0.0,382.23],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-247.56,0.0,286.9],"L_ankle_pitch_link":[61.96,-0.24,55.14],"L_foot":[64.92,-25.24,17.86],"L_gripper":[163.16,0.0,261.59],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-263.16,0.0,261.59]}},{"sample":310,"time":6.2,"margin":23.54,"clearance":0.79,"forward":0.36,"support":"R","com":[-38.56,1.92,346.86],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[55.08,0.0,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-155.08,0.0,515.13],"L_forearm":[127.29,0.0,382.23],"L_thigh":[27.25,-5.7,287.4],"L_shin":[51.14,-5.56,127.59],"L_hand":[147.56,0.0,286.9],"R_forearm":[-227.29,0.0,382.23],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-247.56,0.0,286.9],"L_ankle_pitch_link":[61.9,-0.36,55.57],"L_foot":[64.85,-25.36,18.29],"L_gripper":[163.16,0.0,261.59],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-263.16,0.0,261.59]}},{"sample":315,"time":6.3,"margin":23.55,"clearance":1.46,"forward":0.48,"support":"R","com":[-38.57,1.64,346.93],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[55.08,0.0,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-155.08,0.0,515.13],"L_forearm":[127.29,0.0,382.23],"L_thigh":[27.23,-7.74,287.57],"L_shin":[51.06,-7.54,128.1],"L_hand":[147.56,0.0,286.9],"R_forearm":[-227.29,0.0,382.23],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-247.56,0.0,286.9],"L_ankle_pitch_link":[61.8,-0.48,56.24],"L_foot":[64.75,-25.48,18.96],"L_gripper":[163.16,0.0,261.59],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-263.16,0.0,261.59]}},{"sample":320,"time":6.4,"margin":23.56,"clearance":2.35,"forward":0.61,"support":"R","com":[-38.59,1.36,347.03],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[55.08,0.0,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-155.08,0.0,515.13],"L_forearm":[127.29,0.0,382.23],"L_thigh":[27.19,-9.81,287.8],"L_shin":[50.96,-9.57,128.78],"L_hand":[147.56,0.0,286.9],"R_forearm":[-227.29,0.0,382.23],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-247.56,0.0,286.9],"L_ankle_pitch_link":[61.66,-0.61,57.13],"L_foot":[64.62,-25.61,19.85],"L_gripper":[163.16,0.0,261.59],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-263.16,0.0,261.59]}},{"sample":325,"time":6.5,"margin":23.58,"clearance":3.39,"forward":0.74,"support":"R","com":[-38.61,1.09,347.15],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[55.08,0.0,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-155.08,0.0,515.13],"L_forearm":[127.29,0.0,382.23],"L_thigh":[27.15,-11.78,288.06],"L_shin":[50.84,-11.48,129.59],"L_hand":[147.56,0.0,286.9],"R_forearm":[-227.29,0.0,382.23],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-247.56,0.0,286.9],"L_ankle_pitch_link":[61.51,-0.74,58.17],"L_foot":[64.47,-25.74,20.89],"L_gripper":[163.16,0.0,261.59],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-263.16,0.0,261.59]}},{"sample":330,"time":6.6,"margin":23.6,"clearance":4.47,"forward":0.84,"support":"R","com":[-38.62,0.85,347.26],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[55.08,0.0,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-155.08,0.0,515.13],"L_forearm":[127.29,0.0,382.23],"L_thigh":[27.11,-13.5,288.33],"L_shin":[50.71,-13.16,130.41],"L_hand":[147.56,0.0,286.9],"R_forearm":[-227.29,0.0,382.23],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-247.56,0.0,286.9],"L_ankle_pitch_link":[61.35,-0.84,59.25],"L_foot":[64.3,-25.84,21.97],"L_gripper":[163.16,0.0,261.59],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-263.16,0.0,261.59]}},{"sample":335,"time":6.7,"margin":23.61,"clearance":5.43,"forward":0.93,"support":"R","com":[-38.64,0.67,347.37],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[55.08,0.0,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-155.08,0.0,515.13],"L_forearm":[127.29,0.0,382.23],"L_thigh":[27.07,-14.87,288.58],"L_shin":[50.6,-14.5,131.15],"L_hand":[147.56,0.0,286.9],"R_forearm":[-227.29,0.0,382.23],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-247.56,0.0,286.9],"L_ankle_pitch_link":[61.2,-0.93,60.21],"L_foot":[64.16,-25.93,22.93],"L_gripper":[163.16,0.0,261.59],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-263.16,0.0,261.59]}},{"sample":340,"time":6.8,"margin":23.62,"clearance":6.17,"forward":0.99,"support":"R","com":[-38.65,0.53,347.45],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[55.08,0.0,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-155.08,0.0,515.13],"L_forearm":[127.29,0.0,382.23],"L_thigh":[27.05,-15.84,288.77],"L_shin":[50.52,-15.45,131.72],"L_hand":[147.56,0.0,286.9],"R_forearm":[-227.29,0.0,382.23],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-247.56,0.0,286.9],"L_ankle_pitch_link":[61.09,-0.99,60.95],"L_foot":[64.05,-25.99,23.67],"L_gripper":[163.16,0.0,261.59],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-263.16,0.0,261.59]}},{"sample":345,"time":6.9,"margin":23.63,"clearance":6.62,"forward":1.02,"support":"R","com":[-38.66,0.46,347.5],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[55.08,0.0,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-155.08,0.0,515.13],"L_forearm":[127.29,0.0,382.23],"L_thigh":[27.03,-16.4,288.88],"L_shin":[50.47,-15.99,132.06],"L_hand":[147.56,0.0,286.9],"R_forearm":[-227.29,0.0,382.23],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-247.56,0.0,286.9],"L_ankle_pitch_link":[61.03,-1.02,61.4],"L_foot":[63.98,-26.02,24.12],"L_gripper":[163.16,0.0,261.59],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-263.16,0.0,261.59]}},{"sample":350,"time":7.0,"margin":23.63,"clearance":6.79,"forward":1.04,"support":"R","com":[-38.66,0.43,347.52],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[55.08,0.0,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-155.08,0.0,515.13],"L_forearm":[127.29,0.0,382.23],"L_thigh":[27.02,-16.61,288.92],"L_shin":[50.45,-16.19,132.19],"L_hand":[147.56,0.0,286.9],"R_forearm":[-227.29,0.0,382.23],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-247.56,0.0,286.9],"L_ankle_pitch_link":[61.0,-1.04,61.57],"L_foot":[63.96,-26.04,24.29],"L_gripper":[163.16,0.0,261.59],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-263.16,0.0,261.59]}},{"sample":354,"time":7.08,"margin":23.63,"clearance":6.81,"forward":1.04,"support":"R","com":[-38.66,0.42,347.52],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[55.08,0.0,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-155.08,0.0,515.13],"L_forearm":[127.29,0.0,382.23],"L_thigh":[27.02,-16.63,288.93],"L_shin":[50.44,-16.22,132.21],"L_hand":[147.56,0.0,286.9],"R_forearm":[-227.29,0.0,382.23],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-247.56,0.0,286.9],"L_ankle_pitch_link":[61.0,-1.04,61.59],"L_foot":[63.95,-26.04,24.31],"L_gripper":[163.16,0.0,261.59],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-263.16,0.0,261.59]}},{"sample":355,"time":7.1,"margin":23.63,"clearance":6.81,"forward":1.04,"support":"R","com":[-38.66,0.42,347.52],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[55.08,0.0,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-155.08,-0.0,515.13],"L_forearm":[127.29,0.0,382.23],"L_thigh":[27.02,-16.63,288.93],"L_shin":[50.44,-16.22,132.21],"L_hand":[147.56,0.0,286.9],"R_forearm":[-227.29,-0.0,382.23],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-247.56,-0.0,286.9],"L_ankle_pitch_link":[61.0,-1.04,61.59],"L_foot":[63.95,-26.04,24.31],"L_gripper":[163.16,0.0,261.59],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-263.16,-0.0,261.59]}},{"sample":360,"time":7.2,"margin":23.63,"clearance":6.84,"forward":1.22,"support":"R","com":[-38.66,0.41,347.52],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[55.02,0.07,515.12],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-155.02,-0.07,515.12],"L_forearm":[127.1,0.28,382.15],"L_thigh":[27.02,-16.71,288.94],"L_shin":[50.44,-16.39,132.24],"L_hand":[147.27,0.48,286.8],"R_forearm":[-227.1,-0.11,382.15],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-247.27,-0.08,286.8],"L_ankle_pitch_link":[60.99,-1.22,61.62],"L_foot":[63.95,-26.22,24.34],"L_gripper":[162.85,0.54,261.48],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-262.85,-0.07,261.48]}},{"sample":365,"time":7.3,"margin":23.64,"clearance":6.97,"forward":2.06,"support":"R","com":[-38.67,0.34,347.51],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[54.71,0.37,515.06],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-154.71,-0.37,515.06],"L_forearm":[126.22,1.55,381.78],"L_thigh":[27.01,-17.08,289.02],"L_shin":[50.42,-17.17,132.38],"L_hand":[145.99,2.68,286.36],"R_forearm":[-226.22,-0.6,381.78],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-245.99,-0.46,286.35],"L_ankle_pitch_link":[60.97,-2.06,61.75],"L_foot":[63.93,-27.06,24.47],"L_gripper":[161.46,3.0,260.97],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-261.46,-0.41,260.96]}},{"sample":370,"time":7.4,"margin":23.64,"clearance":7.26,"forward":3.84,"support":"R","com":[-38.67,0.19,347.48],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[54.06,1.02,514.93],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-154.06,-1.02,514.93],"L_forearm":[124.35,4.25,381.05],"L_thigh":[26.98,-17.85,289.19],"L_shin":[50.37,-18.84,132.7],"L_hand":[143.24,7.38,285.49],"R_forearm":[-224.35,-1.65,381.01],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-243.24,-1.27,285.4],"L_ankle_pitch_link":[60.93,-3.84,62.04],"L_foot":[63.89,-28.84,24.76],"L_gripper":[158.47,8.25,259.97],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-258.47,-1.13,259.87]}},{"sample":375,"time":7.5,"margin":23.66,"clearance":7.76,"forward":6.64,"support":"R","com":[-38.68,-0.03,347.46],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[53.03,2.06,514.76],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-153.03,-2.06,514.76],"L_forearm":[121.37,8.55,380.01],"L_thigh":[26.94,-19.07,289.48],"L_shin":[50.29,-21.47,133.23],"L_hand":[138.87,14.83,284.34],"R_forearm":[-221.37,-3.34,379.86],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-238.87,-2.59,283.99],"L_ankle_pitch_link":[60.86,-6.64,62.54],"L_foot":[63.81,-31.64,25.26],"L_gripper":[153.73,16.58,258.65],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-253.73,-2.32,258.24]}},{"sample":380,"time":7.6,"margin":23.67,"clearance":8.48,"forward":10.38,"support":"R","com":[-38.7,-0.34,347.45],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[51.65,3.45,514.57],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-151.65,-3.45,514.57],"L_forearm":[117.35,14.36,378.84],"L_thigh":[26.88,-20.69,289.89],"L_shin":[50.18,-24.98,134.0],"L_hand":[132.97,24.84,283.22],"R_forearm":[-217.35,-5.65,378.42],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-232.97,-4.41,282.24],"L_ankle_pitch_link":[60.75,-10.38,63.26],"L_foot":[63.7,-35.38,25.98],"L_gripper":[147.33,27.77,257.35],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-247.33,-3.98,256.2]}},{"sample":385,"time":7.7,"margin":23.69,"clearance":9.44,"forward":14.83,"support":"R","com":[-38.72,-0.7,347.49],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[49.99,5.12,514.42],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-149.99,-5.12,514.42],"L_forearm":[112.5,21.36,377.8],"L_thigh":[26.8,-22.63,290.43],"L_shin":[50.02,-29.16,135.02],"L_hand":[125.86,36.88,282.52],"R_forearm":[-212.5,-8.48,376.88],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-225.86,-6.68,280.36],"L_ankle_pitch_link":[60.6,-14.83,64.22],"L_foot":[63.56,-39.83,26.94],"L_gripper":[139.6,41.24,256.52],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-239.6,-6.06,254.01]}},{"sample":390,"time":7.8,"margin":23.72,"clearance":10.61,"forward":19.7,"support":"R","com":[-38.75,-1.1,347.58],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[48.15,6.97,514.34],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-148.15,-6.97,514.34],"L_forearm":[107.11,29.1,377.11],"L_thigh":[26.7,-24.74,291.08],"L_shin":[49.84,-33.73,136.24],"L_hand":[117.97,50.12,282.56],"R_forearm":[-207.11,-11.68,375.41],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-217.97,-9.26,278.59],"L_ankle_pitch_link":[60.43,-19.7,65.39],"L_foot":[63.39,-44.7,28.11],"L_gripper":[131.03,56.05,256.52],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-231.03,-8.46,251.9]}},{"sample":395,"time":7.9,"margin":23.75,"clearance":11.93,"forward":24.64,"support":"R","com":[-38.77,-1.51,347.74],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[46.27,8.86,514.36],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-146.27,-8.86,514.36],"L_forearm":[101.56,37.03,376.88],"L_thigh":[26.59,-26.88,291.8],"L_shin":[49.64,-38.35,137.62],"L_hand":[109.88,63.6,283.48],"R_forearm":[-201.56,-15.01,374.16],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-209.88,-11.97,277.1],"L_ankle_pitch_link":[60.23,-24.64,66.71],"L_foot":[63.19,-49.64,29.43],"L_gripper":[122.23,71.13,257.51],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-222.23,-10.99,250.08]}},{"sample":400,"time":8.0,"margin":23.78,"clearance":13.29,"forward":29.3,"support":"R","com":[-38.8,-1.89,347.94],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[44.47,10.66,514.47],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-144.47,-10.66,514.47],"L_forearm":[96.26,44.55,377.11],"L_thigh":[26.48,-28.89,292.54],"L_shin":[49.42,-42.71,139.04],"L_hand":[102.17,76.32,285.17],"R_forearm":[-196.26,-18.23,373.2],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-202.17,-14.61,275.99],"L_ankle_pitch_link":[60.03,-29.3,68.07],"L_foot":[62.99,-54.3,30.79],"L_gripper":[113.85,85.36,259.37],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-213.85,-13.47,248.67]}},{"sample":405,"time":8.1,"margin":23.81,"clearance":14.58,"forward":33.36,"support":"R","com":[-38.83,-2.23,348.16],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[42.89,12.23,514.64],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-142.89,-12.23,514.64],"L_forearm":[91.58,51.14,377.69],"L_thigh":[26.38,-30.64,293.23],"L_shin":[49.22,-46.51,140.38],"L_hand":[95.38,87.41,287.31],"R_forearm":[-191.58,-21.09,372.54],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-195.38,-16.95,275.25],"L_ankle_pitch_link":[59.84,-33.36,69.36],"L_foot":[62.79,-58.36,32.08],"L_gripper":[106.47,97.76,261.74],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-206.47,-15.7,247.69]}},{"sample":410,"time":8.2,"margin":23.83,"clearance":15.67,"forward":36.59,"support":"R","com":[-38.86,-2.5,348.36],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[41.63,13.49,514.83],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-141.63,-13.49,514.83],"L_forearm":[87.82,56.39,378.39],"L_thigh":[26.29,-32.04,293.82],"L_shin":[49.05,-49.54,141.51],"L_hand":[89.95,96.19,289.46],"R_forearm":[-187.82,-23.4,372.15],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-189.95,-18.84,274.82],"L_ankle_pitch_link":[59.67,-36.59,70.45],"L_foot":[62.63,-61.59,33.17],"L_gripper":[100.56,107.59,264.13],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-200.56,-17.49,247.08]}},{"sample":415,"time":8.3,"margin":23.85,"clearance":16.48,"forward":38.86,"support":"R","com":[-38.87,-2.69,348.53],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[40.73,14.37,514.99],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-140.73,-14.37,514.99],"L_forearm":[85.17,60.07,379.01],"L_thigh":[26.23,-33.01,294.25],"L_shin":[48.93,-51.65,142.34],"L_hand":[86.12,102.33,291.2],"R_forearm":[-185.17,-25.04,371.94],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-186.12,-20.18,274.61],"L_ankle_pitch_link":[59.55,-38.86,71.26],"L_foot":[62.51,-63.86,33.98],"L_gripper":[96.4,114.45,266.07],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-196.4,-18.77,246.74]}},{"sample":420,"time":8.4,"margin":23.86,"clearance":16.95,"forward":40.16,"support":"R","com":[-38.89,-2.79,348.62],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[40.22,14.87,515.09],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-140.22,-14.87,515.09],"L_forearm":[83.65,62.18,379.42],"L_thigh":[26.19,-33.57,294.5],"L_shin":[48.86,-52.87,142.83],"L_hand":[83.93,105.83,292.29],"R_forearm":[-183.65,-25.98,371.84],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-183.93,-20.95,274.51],"L_ankle_pitch_link":[59.48,-40.16,71.73],"L_foot":[62.44,-65.16,34.45],"L_gripper":[94.01,118.37,267.29],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-194.01,-19.5,246.58]}},{"sample":425,"time":8.5,"margin":23.86,"clearance":17.14,"forward":40.65,"support":"R","com":[-38.89,-2.84,348.66],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[40.02,15.06,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-140.02,-15.06,515.13],"L_forearm":[83.06,62.98,379.59],"L_thigh":[26.17,-33.79,294.6],"L_shin":[48.83,-53.33,143.02],"L_hand":[83.09,107.16,292.72],"R_forearm":[-183.06,-26.34,371.81],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-183.09,-21.25,274.49],"L_ankle_pitch_link":[59.46,-40.65,71.92],"L_foot":[62.41,-65.65,34.64],"L_gripper":[93.1,119.86,267.77],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-193.1,-19.78,246.53]}},{"sample":429,"time":8.58,"margin":23.86,"clearance":17.16,"forward":40.7,"support":"R","com":[-38.89,-2.84,348.67],"links":{"base_link":[-50.0,0.0,386.1],"L_hip_yaw_link":[12.5,0.0,406.1],"R_hip_yaw_link":[-112.5,0.0,406.1],"torso":[-50.0,0.0,508.6],"neck_pan_link":[-50.0,0.0,621.1],"head":[-50.0,0.0,702.1],"L_hip_roll_link":[12.5,0.0,386.1],"L_shoulder_pitch_link":[40.0,0.0,586.1],"L_upper_arm":[40.0,15.08,515.13],"R_hip_roll_link":[-112.5,0.0,386.1],"R_shoulder_pitch_link":[-140.0,0.0,586.1],"R_upper_arm":[-140.0,-15.08,515.13],"L_forearm":[83.0,63.06,379.6],"L_thigh":[26.17,-33.81,294.61],"L_shin":[48.83,-53.38,143.04],"L_hand":[83.0,107.31,292.77],"R_forearm":[-183.0,-26.38,371.81],"R_thigh":[-97.72,0.0,287.2],"R_shin":[-73.77,0.0,126.98],"R_hand":[-183.0,-21.28,274.48],"L_ankle_pitch_link":[59.45,-40.7,71.94],"L_foot":[62.41,-65.7,34.66],"L_gripper":[93.0,120.02,267.82],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-193.0,-19.81,246.52]}},{"sample":430,"time":8.6,"margin":23.86,"clearance":17.15,"forward":40.7,"support":"R","com":[-38.89,-2.84,348.67],"links":{"base_link":[-50.0,-0.0,386.1],"L_hip_yaw_link":[12.5,-0.0,406.1],"R_hip_yaw_link":[-112.5,-0.0,406.1],"torso":[-50.0,-0.0,508.6],"neck_pan_link":[-50.0,-0.0,621.1],"head":[-50.0,-0.0,702.1],"L_hip_roll_link":[12.5,-0.0,386.1],"L_shoulder_pitch_link":[40.0,-0.0,586.1],"L_upper_arm":[40.0,15.08,515.13],"R_hip_roll_link":[-112.5,-0.0,386.1],"R_shoulder_pitch_link":[-140.0,-0.0,586.1],"R_upper_arm":[-140.0,-15.08,515.13],"L_forearm":[83.0,63.06,379.6],"L_thigh":[26.17,-33.81,294.61],"L_shin":[48.83,-53.38,143.04],"L_hand":[83.0,107.31,292.77],"R_forearm":[-183.0,-26.38,371.81],"R_thigh":[-97.72,-0.0,287.2],"R_shin":[-73.77,-0.0,126.98],"R_hand":[-183.0,-21.28,274.48],"L_ankle_pitch_link":[59.45,-40.7,71.94],"L_foot":[62.41,-65.7,34.65],"L_gripper":[93.0,120.02,267.82],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-193.0,-19.81,246.52]}},{"sample":435,"time":8.7,"margin":23.86,"clearance":17.1,"forward":40.71,"support":"R","com":[-38.89,-2.86,348.66],"links":{"base_link":[-50.0,-0.03,386.1],"L_hip_yaw_link":[12.5,-0.03,406.1],"R_hip_yaw_link":[-112.5,-0.03,406.1],"torso":[-50.0,-0.03,508.6],"neck_pan_link":[-50.0,-0.03,621.1],"head":[-50.0,-0.03,702.1],"L_hip_roll_link":[12.5,-0.03,386.1],"L_shoulder_pitch_link":[40.0,-0.03,586.1],"L_upper_arm":[40.02,15.04,515.13],"R_hip_roll_link":[-112.5,-0.03,386.1],"R_shoulder_pitch_link":[-140.0,-0.03,586.1],"R_upper_arm":[-140.02,-15.11,515.13],"L_forearm":[83.07,62.98,379.6],"L_thigh":[26.18,-33.8,294.59],"L_shin":[48.83,-53.36,142.99],"L_hand":[83.1,107.18,292.74],"R_forearm":[-183.07,-26.41,371.82],"R_thigh":[-97.72,-0.02,287.2],"R_shin":[-73.77,-0.01,126.98],"R_hand":[-183.1,-21.34,274.49],"L_ankle_pitch_link":[59.46,-40.71,71.88],"L_foot":[62.42,-65.71,34.6],"L_gripper":[93.11,119.87,267.79],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-193.11,-19.89,246.53]}},{"sample":440,"time":8.8,"margin":23.86,"clearance":16.87,"forward":40.72,"support":"R","com":[-38.88,-2.98,348.63],"links":{"base_link":[-50.0,-0.19,386.1],"L_hip_yaw_link":[12.5,-0.19,406.1],"R_hip_yaw_link":[-112.5,-0.19,406.1],"torso":[-50.0,-0.19,508.6],"neck_pan_link":[-50.0,-0.19,621.1],"head":[-50.0,-0.19,702.1],"L_hip_roll_link":[12.5,-0.19,386.1],"L_shoulder_pitch_link":[40.0,-0.19,586.1],"L_upper_arm":[40.14,14.85,515.12],"R_hip_roll_link":[-112.5,-0.19,386.1],"R_shoulder_pitch_link":[-140.0,-0.19,586.1],"R_upper_arm":[-140.14,-15.22,515.12],"L_forearm":[83.42,62.57,379.57],"L_thigh":[26.19,-33.74,294.5],"L_shin":[48.87,-53.24,142.78],"L_hand":[83.6,106.55,292.6],"R_forearm":[-183.42,-26.58,371.86],"R_thigh":[-97.72,-0.14,287.2],"R_shin":[-73.77,-0.04,126.98],"R_hand":[-183.6,-21.65,274.53],"L_ankle_pitch_link":[59.5,-40.72,71.65],"L_foot":[62.45,-65.72,34.37],"L_gripper":[93.65,119.18,267.63],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-193.65,-20.23,246.59]}},{"sample":445,"time":8.9,"margin":23.85,"clearance":16.34,"forward":40.76,"support":"R","com":[-38.87,-3.23,348.56],"links":{"base_link":[-50.0,-0.53,386.1],"L_hip_yaw_link":[12.5,-0.53,406.1],"R_hip_yaw_link":[-112.5,-0.53,406.1],"torso":[-50.0,-0.53,508.6],"neck_pan_link":[-50.0,-0.53,621.1],"head":[-50.0,-0.53,702.1],"L_hip_roll_link":[12.5,-0.53,386.1],"L_shoulder_pitch_link":[40.0,-0.53,586.1],"L_upper_arm":[40.4,14.43,515.11],"R_hip_roll_link":[-112.5,-0.53,386.1],"R_shoulder_pitch_link":[-140.0,-0.53,586.1],"R_upper_arm":[-140.4,-15.48,515.11],"L_forearm":[84.19,61.66,379.5],"L_thigh":[26.22,-33.62,294.29],"L_shin":[48.94,-52.99,142.3],"L_hand":[84.71,105.14,292.28],"R_forearm":[-184.19,-26.96,371.97],"R_thigh":[-97.72,-0.39,287.2],"R_shin":[-73.77,-0.12,126.98],"R_hand":[-184.71,-22.35,274.62],"L_ankle_pitch_link":[59.57,-40.76,71.12],"L_foot":[62.53,-65.76,33.84],"L_gripper":[94.86,117.62,267.28],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-194.86,-21.02,246.71]}},{"sample":450,"time":9.0,"margin":23.83,"clearance":15.47,"forward":40.82,"support":"R","com":[-38.86,-3.66,348.44],"links":{"base_link":[-50.0,-1.1,386.1],"L_hip_yaw_link":[12.5,-1.1,406.1],"R_hip_yaw_link":[-112.5,-1.1,406.1],"torso":[-50.0,-1.1,508.6],"neck_pan_link":[-50.0,-1.1,621.1],"head":[-50.0,-1.1,702.1],"L_hip_roll_link":[12.5,-1.1,386.1],"L_shoulder_pitch_link":[40.0,-1.1,586.1],"L_upper_arm":[40.84,13.71,515.08],"R_hip_roll_link":[-112.5,-1.1,386.1],"R_shoulder_pitch_link":[-140.0,-1.1,586.1],"R_upper_arm":[-140.84,-15.91,515.08],"L_forearm":[85.48,60.13,379.4],"L_thigh":[26.27,-33.42,293.94],"L_shin":[49.05,-52.55,141.51],"L_hand":[86.57,102.78,291.78],"R_forearm":[-185.48,-27.59,372.15],"R_thigh":[-97.72,-0.82,287.2],"R_shin":[-73.77,-0.25,126.98],"R_hand":[-186.57,-23.52,274.79],"L_ankle_pitch_link":[59.7,-40.82,70.25],"L_foot":[62.66,-65.82,32.97],"L_gripper":[96.88,115.01,266.71],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-196.88,-22.33,246.93]}},{"sample":455,"time":9.1,"margin":23.81,"clearance":14.27,"forward":40.89,"support":"R","com":[-38.83,-4.26,348.27],"links":{"base_link":[-50.0,-1.93,386.09],"L_hip_yaw_link":[12.5,-1.93,406.09],"R_hip_yaw_link":[-112.5,-1.93,406.09],"torso":[-50.0,-1.93,508.59],"neck_pan_link":[-50.0,-1.93,621.09],"head":[-50.0,-1.93,702.09],"L_hip_roll_link":[12.5,-1.93,386.09],"L_shoulder_pitch_link":[40.0,-1.93,586.09],"L_upper_arm":[41.46,12.68,515.04],"R_hip_roll_link":[-112.5,-1.93,386.09],"R_shoulder_pitch_link":[-140.0,-1.93,586.09],"R_upper_arm":[-141.46,-16.53,515.04],"L_forearm":[87.34,57.92,379.27],"L_thigh":[26.35,-33.11,293.45],"L_shin":[49.22,-51.91,140.42],"L_hand":[89.25,99.37,291.09],"R_forearm":[-187.34,-28.5,372.44],"R_thigh":[-97.72,-1.44,287.19],"R_shin":[-73.77,-0.45,126.98],"R_hand":[-189.25,-25.2,275.05],"L_ankle_pitch_link":[59.88,-40.89,69.05],"L_foot":[62.84,-65.89,31.77],"L_gripper":[99.79,111.24,265.95],"R_ankle_pitch_link":[-62.98,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-199.79,-24.21,247.27]}},{"sample":460,"time":9.2,"margin":23.78,"clearance":12.78,"forward":40.96,"support":"R","com":[-38.8,-5.05,348.07],"links":{"base_link":[-50.0,-2.99,386.09],"L_hip_yaw_link":[12.5,-2.99,406.09],"R_hip_yaw_link":[-112.5,-2.99,406.09],"torso":[-50.0,-2.99,508.59],"neck_pan_link":[-50.0,-2.99,621.09],"head":[-50.0,-2.99,702.09],"L_hip_roll_link":[12.5,-2.99,386.09],"L_shoulder_pitch_link":[40.0,-2.99,586.09],"L_upper_arm":[42.28,11.34,515.0],"R_hip_roll_link":[-112.5,-2.99,386.09],"R_shoulder_pitch_link":[-140.0,-2.99,586.09],"R_upper_arm":[-142.28,-17.33,515.0],"L_forearm":[89.75,55.05,379.16],"L_thigh":[26.44,-32.71,292.84],"L_shin":[49.42,-51.07,139.06],"L_hand":[92.73,94.92,290.28],"R_forearm":[-189.75,-29.68,372.83],"R_thigh":[-97.72,-2.23,287.19],"R_shin":[-73.78,-0.69,126.98],"R_hand":[-192.73,-27.37,275.45],"L_ankle_pitch_link":[60.1,-40.96,67.56],"L_foot":[63.06,-65.96,30.28],"L_gripper":[103.58,106.31,265.05],"R_ankle_pitch_link":[-62.99,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-203.58,-26.65,247.78]}},{"sample":465,"time":9.3,"margin":23.74,"clearance":11.08,"forward":41.02,"support":"R","com":[-38.77,-6.0,347.84],"links":{"base_link":[-50.0,-4.29,386.07],"L_hip_yaw_link":[12.5,-4.29,406.07],"R_hip_yaw_link":[-112.5,-4.29,406.07],"torso":[-50.0,-4.29,508.57],"neck_pan_link":[-50.0,-4.29,621.07],"head":[-50.0,-4.29,702.07],"L_hip_roll_link":[12.5,-4.29,386.07],"L_shoulder_pitch_link":[40.0,-4.29,586.07],"L_upper_arm":[43.26,9.72,514.96],"R_hip_roll_link":[-112.5,-4.29,386.07],"R_shoulder_pitch_link":[-140.0,-4.29,586.07],"R_upper_arm":[-143.26,-18.3,514.96],"L_forearm":[92.66,51.56,379.07],"L_thigh":[26.54,-32.2,292.14],"L_shin":[49.65,-50.01,137.51],"L_hand":[96.94,89.5,289.41],"R_forearm":[-192.66,-31.11,373.36],"R_thigh":[-97.72,-3.2,287.18],"R_shin":[-73.78,-0.99,126.97],"R_hand":[-196.94,-30.0,276.0],"L_ankle_pitch_link":[60.36,-41.02,65.86],"L_foot":[63.31,-66.02,28.58],"L_gripper":[108.17,100.31,264.09],"R_ankle_pitch_link":[-62.99,0.0,54.78],"R_foot":[-60.03,-25.0,17.5],"R_gripper":[-208.17,-29.59,248.47]}},{"sample":470,"time":9.4,"margin":23.7,"clearance":9.27,"forward":41.06,"support":"R","com":[-38.74,-7.09,347.6],"links":{"base_link":[-50.0,-5.78,386.05],"L_hip_yaw_link":[12.5,-5.78,406.05],"R_hip_yaw_link":[-112.5,-5.78,406.05],"torso":[-50.0,-5.78,508.55],"neck_pan_link":[-50.0,-5.78,621.05],"head":[-50.0,-5.78,702.05],"L_hip_roll_link":[12.5,-5.78,386.05],"L_shoulder_pitch_link":[40.0,-5.78,586.05],"L_upper_arm":[44.39,7.85,514.92],"R_hip_roll_link":[-112.5,-5.78,386.05],"R_shoulder_pitch_link":[-140.0,-5.78,586.05],"R_upper_arm":[-144.39,-19.4,514.92],"L_forearm":[96.0,47.53,379.06],"L_thigh":[26.65,-31.6,291.38],"L_shin":[49.89,-48.76,135.85],"L_hand":[101.79,83.24,288.57],"R_forearm":[-196.0,-32.74,374.02],"R_thigh":[-97.72,-4.31,287.16],"R_shin":[-73.78,-1.34,126.97],"R_hand":[-201.79,-33.01,276.73],"L_ankle_pitch_link":[60.62,-41.06,64.06],"L_foot":[63.58,-66.06,26.77],"L_gripper":[113.43,93.38,263.16],"R_ankle_pitch_link":[-62.99,0.0,54.78],"R_foot":[-60.04,-25.0,17.5],"R_gripper":[-213.43,-32.97,249.38]}},{"sample":475,"time":9.5,"margin":23.66,"clearance":7.47,"forward":41.06,"support":"R","com":[-38.7,-8.27,347.36],"links":{"base_link":[-50.0,-7.41,386.01],"L_hip_yaw_link":[12.5,-7.41,406.01],"R_hip_yaw_link":[-112.5,-7.41,406.01],"torso":[-50.0,-7.41,508.51],"neck_pan_link":[-50.0,-7.41,621.01],"head":[-50.0,-7.41,702.01],"L_hip_roll_link":[12.5,-7.41,386.01],"L_shoulder_pitch_link":[40.0,-7.41,586.01],"L_upper_arm":[45.62,5.8,514.9],"R_hip_roll_link":[-112.5,-7.41,386.01],"R_shoulder_pitch_link":[-140.0,-7.41,586.01],"R_upper_arm":[-145.62,-20.61,514.9],"L_forearm":[99.65,43.1,379.16],"L_thigh":[26.76,-30.92,290.61],"L_shin":[50.14,-47.35,134.18],"L_hand":[107.1,76.32,287.84],"R_forearm":[-199.65,-34.53,374.82],"R_thigh":[-97.72,-5.52,287.13],"R_shin":[-73.78,-1.71,126.96],"R_hand":[-207.1,-36.3,277.66],"L_ankle_pitch_link":[60.89,-41.06,62.25],"L_foot":[63.84,-66.06,24.97],"L_gripper":[119.21,85.72,262.37],"R_ankle_pitch_link":[-63.0,0.0,54.78],"R_foot":[-60.04,-25.0,17.5],"R_gripper":[-219.21,-36.67,250.51]}},{"sample":480,"time":9.6,"margin":23.62,"clearance":5.78,"forward":41.01,"support":"R","com":[-38.67,-9.52,347.15],"links":{"base_link":[-50.0,-9.13,385.97],"L_hip_yaw_link":[12.5,-9.13,405.97],"R_hip_yaw_link":[-112.5,-9.13,405.97],"torso":[-50.0,-9.13,508.47],"neck_pan_link":[-50.0,-9.13,620.97],"head":[-50.0,-9.13,701.97],"L_hip_roll_link":[12.5,-9.13,385.97],"L_shoulder_pitch_link":[40.0,-9.13,585.97],"L_upper_arm":[46.92,3.63,514.88],"R_hip_roll_link":[-112.5,-9.13,385.97],"R_shoulder_pitch_link":[-140.0,-9.13,585.97],"R_upper_arm":[-146.92,-21.88,514.88],"L_forearm":[103.49,38.4,379.38],"L_thigh":[26.86,-30.17,289.86],"L_shin":[50.37,-45.82,132.6],"L_hand":[112.7,68.97,287.3],"R_forearm":[-203.49,-36.41,375.74],"R_thigh":[-97.72,-6.81,287.1],"R_shin":[-73.79,-2.11,126.95],"R_hand":[-212.7,-39.77,278.78],"L_ankle_pitch_link":[61.13,-41.01,60.56],"L_foot":[64.09,-66.01,23.28],"L_gripper":[125.3,77.59,261.78],"R_ankle_pitch_link":[-63.0,0.0,54.78],"R_foot":[-60.05,-25.0,17.5],"R_gripper":[-225.3,-40.56,251.86]}},{"sample":485,"time":9.7,"margin":23.59,"clearance":4.27,"forward":40.93,"support":"R","com":[-38.64,-10.78,346.96],"links":{"base_link":[-50.0,-10.87,385.91],"L_hip_yaw_link":[12.5,-10.87,405.91],"R_hip_yaw_link":[-112.5,-10.87,405.91],"torso":[-50.0,-10.87,508.41],"neck_pan_link":[-50.0,-10.87,620.91],"head":[-50.0,-10.87,701.91],"L_hip_roll_link":[12.5,-10.87,385.91],"L_shoulder_pitch_link":[40.0,-10.87,585.91],"L_upper_arm":[48.24,1.43,514.89],"R_hip_roll_link":[-112.5,-10.87,385.91],"R_shoulder_pitch_link":[-140.0,-10.87,585.91],"R_upper_arm":[-148.24,-23.18,514.89],"L_forearm":[107.39,33.6,379.72],"L_thigh":[26.96,-29.4,289.16],"L_shin":[50.57,-44.22,131.17],"L_hand":[118.38,61.44,286.98],"R_forearm":[-207.39,-38.33,376.78],"R_thigh":[-97.73,-8.11,287.06],"R_shin":[-73.8,-2.52,126.94],"R_hand":[-218.38,-43.29,280.07],"L_ankle_pitch_link":[61.35,-40.93,59.05],"L_foot":[64.31,-65.93,21.77],"L_gripper":[131.48,69.25,261.45],"R_ankle_pitch_link":[-63.01,0.01,54.78],"R_foot":[-60.06,-24.99,17.5],"R_gripper":[-231.48,-44.52,253.4]}},{"sample":490,"time":9.8,"margin":23.56,"clearance":3.0,"forward":40.81,"support":"R","com":[-38.62,-12.02,346.8],"links":{"base_link":[-50.0,-12.59,385.85],"L_hip_yaw_link":[12.5,-12.59,405.85],"R_hip_yaw_link":[-112.5,-12.59,405.85],"torso":[-50.0,-12.59,508.35],"neck_pan_link":[-50.0,-12.59,620.85],"head":[-50.0,-12.59,701.85],"L_hip_roll_link":[12.5,-12.59,385.85],"L_shoulder_pitch_link":[40.0,-12.59,585.85],"L_upper_arm":[49.54,-0.75,514.91],"R_hip_roll_link":[-112.5,-12.59,385.85],"R_shoulder_pitch_link":[-140.0,-12.59,585.85],"R_upper_arm":[-149.54,-24.44,514.91],"L_forearm":[111.19,28.86,380.19],"L_thigh":[27.04,-28.61,288.55],"L_shin":[50.74,-42.61,129.96],"L_hand":[123.95,54.01,286.9],"R_forearm":[-211.19,-40.22,377.88],"R_thigh":[-97.73,-9.39,287.01],"R_shin":[-73.8,-2.92,126.92],"R_hand":[-223.95,-46.75,281.48],"L_ankle_pitch_link":[61.53,-40.81,57.78],"L_foot":[64.49,-65.81,20.5],"L_gripper":[137.53,61.01,261.39],"R_ankle_pitch_link":[-63.02,0.01,54.78],"R_foot":[-60.06,-24.99,17.5],"R_gripper":[-237.53,-48.41,255.08]}},{"sample":495,"time":9.9,"margin":23.53,"clearance":2.0,"forward":40.67,"support":"R","com":[-38.6,-13.19,346.69],"links":{"base_link":[-50.0,-14.22,385.78],"L_hip_yaw_link":[12.5,-14.22,405.78],"R_hip_yaw_link":[-112.5,-14.22,405.78],"torso":[-50.0,-14.22,508.28],"neck_pan_link":[-50.0,-14.22,620.78],"head":[-50.0,-14.22,701.78],"L_hip_roll_link":[12.5,-14.22,385.78],"L_shoulder_pitch_link":[40.0,-14.22,585.78],"L_upper_arm":[50.77,-2.81,514.95],"R_hip_roll_link":[-112.5,-14.22,385.78],"R_shoulder_pitch_link":[-140.0,-14.22,585.78],"R_upper_arm":[-150.77,-25.64,514.95],"L_forearm":[114.78,24.36,380.74],"L_thigh":[27.11,-27.85,288.04],"L_shin":[50.88,-41.05,128.97],"L_hand":[129.2,46.92,287.03],"R_forearm":[-214.78,-42.01,379.0],"R_thigh":[-97.73,-10.61,286.96],"R_shin":[-73.81,-3.29,126.9],"R_hand":[-229.2,-50.03,282.95],"L_ankle_pitch_link":[61.67,-40.67,56.78],"L_foot":[64.63,-65.67,19.5],"L_gripper":[143.23,53.17,261.58],"R_ankle_pitch_link":[-63.03,0.0,54.78],"R_foot":[-60.08,-25.0,17.5],"R_gripper":[-243.23,-52.1,256.82]}},{"sample":500,"time":10.0,"margin":23.5,"clearance":1.25,"forward":40.52,"support":"R","com":[-38.59,-14.25,346.61],"links":{"base_link":[-50.0,-15.71,385.71],"L_hip_yaw_link":[12.5,-15.71,405.71],"R_hip_yaw_link":[-112.5,-15.71,405.71],"torso":[-50.0,-15.71,508.21],"neck_pan_link":[-50.0,-15.71,620.71],"head":[-50.0,-15.71,701.71],"L_hip_roll_link":[12.5,-15.71,385.71],"L_shoulder_pitch_link":[40.0,-15.71,585.71],"L_upper_arm":[51.88,-4.69,514.99],"R_hip_roll_link":[-112.5,-15.71,385.71],"R_shoulder_pitch_link":[-140.0,-15.71,585.71],"R_upper_arm":[-151.88,-26.73,514.99],"L_forearm":[118.03,20.26,381.34],"L_thigh":[27.16,-27.15,287.62],"L_shin":[50.98,-39.61,128.22],"L_hand":[133.97,40.44,287.34],"R_forearm":[-218.03,-43.64,380.09],"R_thigh":[-97.73,-11.72,286.91],"R_shin":[-73.82,-3.64,126.89],"R_hand":[-233.97,-53.02,284.4],"L_ankle_pitch_link":[61.77,-40.52,56.03],"L_foot":[64.73,-65.52,18.75],"L_gripper":[148.41,45.99,261.95],"R_ankle_pitch_link":[-63.04,0.0,54.78],"R_foot":[-60.09,-25.0,17.5],"R_gripper":[-248.41,-55.46,258.53]}},{"sample":505,"time":10.1,"margin":23.49,"clearance":0.73,"forward":40.38,"support":"R","com":[-38.58,-15.18,346.56],"links":{"base_link":[-50.0,-17.01,385.65],"L_hip_yaw_link":[12.5,-17.01,405.65],"R_hip_yaw_link":[-112.5,-17.01,405.65],"torso":[-50.0,-17.01,508.15],"neck_pan_link":[-50.0,-17.01,620.65],"head":[-50.0,-17.01,701.65],"L_hip_roll_link":[12.5,-17.01,385.65],"L_shoulder_pitch_link":[40.0,-17.01,585.65],"L_upper_arm":[52.85,-6.33,515.04],"R_hip_roll_link":[-112.5,-17.01,385.65],"R_shoulder_pitch_link":[-140.0,-17.01,585.65],"R_upper_arm":[-152.85,-27.68,515.04],"L_forearm":[120.85,16.67,381.94],"L_thigh":[27.2,-26.53,287.31],"L_shin":[51.05,-38.34,127.68],"L_hand":[138.1,34.78,287.75],"R_forearm":[-220.85,-45.07,381.09],"R_thigh":[-97.74,-12.69,286.86],"R_shin":[-73.83,-3.94,126.87],"R_hand":[-238.1,-55.62,285.75],"L_ankle_pitch_link":[61.84,-40.38,55.51],"L_foot":[64.8,-65.38,18.23],"L_gripper":[152.9,39.72,262.44],"R_ankle_pitch_link":[-63.05,0.0,54.78],"R_foot":[-60.1,-25.0,17.5],"R_gripper":[-252.9,-58.39,260.12]}},{"sample":510,"time":10.2,"margin":23.47,"clearance":0.39,"forward":40.25,"support":"R","com":[-38.58,-15.94,346.53],"links":{"base_link":[-50.0,-18.07,385.59],"L_hip_yaw_link":[12.5,-18.07,405.59],"R_hip_yaw_link":[-112.5,-18.07,405.59],"torso":[-50.0,-18.07,508.09],"neck_pan_link":[-50.0,-18.07,620.59],"head":[-50.0,-18.07,701.59],"L_hip_roll_link":[12.5,-18.07,385.59],"L_shoulder_pitch_link":[40.0,-18.07,585.59],"L_upper_arm":[53.65,-7.68,515.09],"R_hip_roll_link":[-112.5,-18.07,385.59],"R_shoulder_pitch_link":[-140.0,-18.07,585.59],"R_upper_arm":[-153.65,-28.47,515.09],"L_forearm":[123.16,13.71,382.49],"L_thigh":[27.22,-26.02,287.08],"L_shin":[51.1,-37.29,127.31],"L_hand":[141.49,30.09,288.18],"R_forearm":[-223.16,-46.24,381.95],"R_thigh":[-97.74,-13.48,286.82],"R_shin":[-73.83,-4.19,126.86],"R_hand":[-241.49,-57.77,286.93],"L_ankle_pitch_link":[61.88,-40.25,55.17],"L_foot":[64.84,-65.25,17.89],"L_gripper":[156.58,34.52,262.95],"R_ankle_pitch_link":[-63.06,0.0,54.78],"R_foot":[-60.1,-25.0,17.5],"R_gripper":[-256.58,-60.81,261.49]}},{"sample":515,"time":10.3,"margin":23.46,"clearance":0.19,"forward":40.15,"support":"R","com":[-38.57,-16.53,346.52],"links":{"base_link":[-50.0,-18.9,385.54],"L_hip_yaw_link":[12.5,-18.9,405.54],"R_hip_yaw_link":[-112.5,-18.9,405.54],"torso":[-50.0,-18.9,508.04],"neck_pan_link":[-50.0,-18.9,620.54],"head":[-50.0,-18.9,701.54],"L_hip_roll_link":[12.5,-18.9,385.54],"L_shoulder_pitch_link":[40.0,-18.9,585.54],"L_upper_arm":[54.26,-8.73,515.13],"R_hip_roll_link":[-112.5,-18.9,385.54],"R_shoulder_pitch_link":[-140.0,-18.9,585.54],"R_upper_arm":[-154.26,-29.07,515.13],"L_forearm":[124.93,11.43,382.94],"L_thigh":[27.24,-25.62,286.92],"L_shin":[51.13,-36.47,127.08],"L_hand":[144.09,26.48,288.58],"R_forearm":[-224.93,-47.15,382.64],"R_thigh":[-97.74,-14.1,286.78],"R_shin":[-73.84,-4.38,126.85],"R_hand":[-244.09,-59.42,287.87],"L_ankle_pitch_link":[61.9,-40.15,54.97],"L_foot":[64.86,-65.15,17.69],"L_gripper":[159.4,30.52,263.41],"R_ankle_pitch_link":[-63.07,0.0,54.78],"R_foot":[-60.11,-25.0,17.5],"R_gripper":[-259.4,-62.67,262.59]}},{"sample":520,"time":10.4,"margin":23.46,"clearance":0.08,"forward":40.07,"support":"R","com":[-38.57,-16.94,346.52],"links":{"base_link":[-50.0,-19.47,385.5],"L_hip_yaw_link":[12.5,-19.47,405.5],"R_hip_yaw_link":[-112.5,-19.47,405.5],"torso":[-50.0,-19.47,508.0],"neck_pan_link":[-50.0,-19.47,620.5],"head":[-50.0,-19.47,701.5],"L_hip_roll_link":[12.5,-19.47,385.5],"L_shoulder_pitch_link":[40.0,-19.47,585.5],"L_upper_arm":[54.69,-9.45,515.16],"R_hip_roll_link":[-112.5,-19.47,385.5],"R_shoulder_pitch_link":[-140.0,-19.47,585.5],"R_upper_arm":[-154.69,-29.49,515.16],"L_forearm":[126.17,9.84,383.27],"L_thigh":[27.25,-25.34,286.82],"L_shin":[51.14,-35.89,126.94],"L_hand":[145.9,23.96,288.88],"R_forearm":[-226.17,-47.79,383.13],"R_thigh":[-97.74,-14.53,286.75],"R_shin":[-73.84,-4.51,126.84],"R_hand":[-245.9,-60.58,288.55],"L_ankle_pitch_link":[61.91,-40.07,54.86],"L_foot":[64.87,-65.07,17.58],"L_gripper":[161.36,27.73,263.77],"R_ankle_pitch_link":[-63.07,0.0,54.78],"R_foot":[-60.12,-25.0,17.5],"R_gripper":[-261.36,-63.97,263.38]}},{"sample":525,"time":10.5,"margin":23.45,"clearance":0.03,"forward":40.02,"support":"R","com":[-38.57,-17.18,346.51],"links":{"base_link":[-50.0,-19.81,385.48],"L_hip_yaw_link":[12.5,-19.81,405.48],"R_hip_yaw_link":[-112.5,-19.81,405.48],"torso":[-50.0,-19.81,507.98],"neck_pan_link":[-50.0,-19.81,620.48],"head":[-50.0,-19.81,701.48],"L_hip_roll_link":[12.5,-19.81,385.48],"L_shoulder_pitch_link":[40.0,-19.81,585.48],"L_upper_arm":[54.95,-9.89,515.18],"R_hip_roll_link":[-112.5,-19.81,385.48],"R_shoulder_pitch_link":[-140.0,-19.81,585.48],"R_upper_arm":[-154.95,-29.74,515.18],"L_forearm":[126.9,8.89,383.47],"L_thigh":[27.25,-25.17,286.76],"L_shin":[51.15,-35.55,126.87],"L_hand":[146.98,22.45,289.08],"R_forearm":[-226.9,-48.17,383.42],"R_thigh":[-97.74,-14.78,286.74],"R_shin":[-73.84,-4.59,126.84],"R_hand":[-246.98,-61.27,288.96],"L_ankle_pitch_link":[61.92,-40.02,54.81],"L_foot":[64.88,-65.02,17.53],"L_gripper":[162.53,26.06,264.0],"R_ankle_pitch_link":[-63.08,0.0,54.78],"R_foot":[-60.12,-25.0,17.5],"R_gripper":[-262.53,-64.74,263.86]}},{"sample":530,"time":10.6,"margin":23.45,"clearance":0.0,"forward":40.0,"support":"R","com":[-38.57,-17.29,346.51],"links":{"base_link":[-50.0,-19.97,385.47],"L_hip_yaw_link":[12.5,-19.97,405.47],"R_hip_yaw_link":[-112.5,-19.97,405.47],"torso":[-50.0,-19.97,507.97],"neck_pan_link":[-50.0,-19.97,620.47],"head":[-50.0,-19.97,701.47],"L_hip_roll_link":[12.5,-19.97,385.47],"L_shoulder_pitch_link":[40.0,-19.97,585.47],"L_upper_arm":[55.06,-10.08,515.19],"R_hip_roll_link":[-112.5,-19.97,385.47],"R_shoulder_pitch_link":[-140.0,-19.97,585.47],"R_upper_arm":[-155.06,-29.85,515.19],"L_forearm":[127.23,8.46,383.57],"L_thigh":[27.26,-25.1,286.74],"L_shin":[51.15,-35.4,126.84],"L_hand":[147.46,21.78,289.17],"R_forearm":[-227.23,-48.34,383.56],"R_thigh":[-97.74,-14.9,286.73],"R_shin":[-73.85,-4.63,126.83],"R_hand":[-247.46,-61.58,289.15],"L_ankle_pitch_link":[61.92,-40.0,54.78],"L_foot":[64.88,-65.0,17.5],"L_gripper":[163.05,25.32,264.1],"R_ankle_pitch_link":[-63.08,0.0,54.78],"R_foot":[-60.12,-25.0,17.5],"R_gripper":[-263.05,-65.09,264.08]}},{"sample":535,"time":10.7,"margin":23.45,"clearance":0.0,"forward":40.0,"support":"R","com":[-38.57,-17.31,346.51],"links":{"base_link":[-50.0,-20.0,385.47],"L_hip_yaw_link":[12.5,-20.0,405.47],"R_hip_yaw_link":[-112.5,-20.0,405.47],"torso":[-50.0,-20.0,507.97],"neck_pan_link":[-50.0,-20.0,620.47],"head":[-50.0,-20.0,701.47],"L_hip_roll_link":[12.5,-20.0,385.47],"L_shoulder_pitch_link":[40.0,-20.0,585.47],"L_upper_arm":[55.08,-10.12,515.2],"R_hip_roll_link":[-112.5,-20.0,385.47],"R_shoulder_pitch_link":[-140.0,-20.0,585.47],"R_upper_arm":[-155.08,-29.88,515.2],"L_forearm":[127.29,8.37,383.59],"L_thigh":[27.26,-25.08,286.73],"L_shin":[51.15,-35.37,126.83],"L_hand":[147.56,21.64,289.19],"R_forearm":[-227.29,-48.37,383.59],"R_thigh":[-97.74,-14.92,286.73],"R_shin":[-73.85,-4.64,126.83],"R_hand":[-247.56,-61.64,289.19],"L_ankle_pitch_link":[61.92,-40.0,54.78],"L_foot":[64.88,-65.0,17.5],"L_gripper":[163.16,25.16,264.12],"R_ankle_pitch_link":[-63.08,0.0,54.78],"R_foot":[-60.12,-25.0,17.5],"R_gripper":[-263.16,-65.16,264.12]}},{"sample":536,"time":10.72,"margin":64.81,"clearance":-0.0,"forward":40.0,"support":"D","com":[-38.57,-17.31,346.51],"links":{"base_link":[-50.0,-20.0,385.47],"L_hip_yaw_link":[12.5,-20.0,405.47],"R_hip_yaw_link":[-112.5,-20.0,405.47],"torso":[-50.0,-20.0,507.97],"neck_pan_link":[-50.0,-20.0,620.47],"head":[-50.0,-20.0,701.47],"L_hip_roll_link":[12.5,-20.0,385.47],"L_shoulder_pitch_link":[40.0,-20.0,585.47],"L_upper_arm":[55.08,-10.12,515.2],"R_hip_roll_link":[-112.5,-20.0,385.47],"R_shoulder_pitch_link":[-140.0,-20.0,585.47],"R_upper_arm":[-155.08,-29.88,515.2],"L_forearm":[127.29,8.37,383.59],"L_thigh":[27.26,-25.08,286.73],"L_shin":[51.15,-35.37,126.83],"L_hand":[147.56,21.64,289.19],"R_forearm":[-227.29,-48.37,383.59],"R_thigh":[-97.74,-14.92,286.73],"R_shin":[-73.85,-4.64,126.83],"R_hand":[-247.56,-61.64,289.19],"L_ankle_pitch_link":[61.92,-40.0,54.78],"L_foot":[64.88,-65.0,17.5],"L_gripper":[163.16,25.16,264.12],"R_ankle_pitch_link":[-63.08,0.0,54.78],"R_foot":[-60.12,-25.0,17.5],"R_gripper":[-263.16,-65.16,264.12]}}]}
