{"schemaVersion":1,"kind":"rigid-body-replay","units":"m","engine":"Analytical kinematics","scope":"Prescribed cosine motion for adapter testing. This fixture is not a dynamics solution or a physical experiment.","bodies":[{"id":"pendulum","shape":"box","dimensions":[0.08,0.08,0.9],"color":"#d8794e"}],"frames":[{"t":0.0,"poses":{"pendulum":[0.21574149237189136,0,0.3550878471493322,0,0.24740395925452294,0,0.9689124217106447]},"metrics":{"angle_rad":0.5}},{"t":0.025,"poses":{"pendulum":[0.21549468158953197,0,0.3549531139135176,0,0.24710122512740393,0,0.9689896720505002]},"metrics":{"angle_rad":0.49937513019748314}},{"t":0.05,"poses":{"pendulum":[0.21475436240606713,0,0.3545501753350198,0,0.24619363502698396,0,0.9692206632507379]},"metrics":{"angle_rad":0.4975020826390129}},{"t":0.075,"poses":{"pendulum":[0.2135208848158746,0,0.3538828055392621,0,0.24468302747128476,0,0.9696031229670656]},"metrics":{"angle_rad":0.4943855389680211}},{"t":0.1,"poses":{"pendulum":[0.21179486691849667,0,0.3529572638279649,0,0.24257247216717379,0,0.9701332876191321]},"metrics":{"angle_rad":0.4900332889206208}},{"t":0.125,"poses":{"pendulum":[0.2095772462586172,0,0.3517822481974781,0,0.23986627801867283,0,0.9708059376978845]},"metrics":{"angle_rad":0.48445621085532237}},{"t":0.15,"poses":{"pendulum":[0.20686935006736104,0,0.35036883004111447,0,0.2365700038304718,0,0.9716144468294255]},"metrics":{"angle_rad":0.477668244562803}},{"t":0.175,"poses":{"pendulum":[0.20367298279866933,0,0.34873036985351985,0,0.23269047121186517,0,0.9725508442272827]},"metrics":{"angle_rad":0.46968635642368944}},{"t":0.2,"poses":{"pendulum":[0.19999052893655564,0,0.34688241376035617,0,0.2282357790637571,0,0.9736058900577583]},"metrics":{"angle_rad":0.46053049700144255}},{"t":0.225,"poses":{"pendulum":[0.19582506866240365,0,0.34484257074148955,0,0.22321531892245894,0,0.9747691631347111]},"metrics":{"angle_rad":0.45022355117633844}},{"t":0.25,"poses":{"pendulum":[0.19118050362358477,0,0.34263037050581135,0,0.21763979034126651,0,0.9760291602509679]},"metrics":{"angle_rad":0.4387912809451864}},{"t":0.275,"poses":{"pendulum":[0.18606168974310605,0,0.3402671021141454,0,0.21152121541649832,0,0.9773734063441297]},"metrics":{"angle_rad":0.42626226102975284}},{"t":0.3,"poses":{"pendulum":[0.18047457376227324,0,0.3377756336346361,0,0.20487295151070267,0,0.9787885745855911]},"metrics":{"angle_rad":0.41266780745483916}},{"t":0.325,"poses":{"pendulum":[0.1744263300217577,0,0.33518021335145926,0,0.19770970119360814,0,0.9802606153742658]},"metrics":{"angle_rad":0.39804189927452793}},{"t":0.35,"poses":{"pendulum":[0.16792549386781735,0,0.33250625332916706,0,0.1900475184121857,0,0.9817748931121482]},"metrics":{"angle_rad":0.38242109364224425}},{"t":0.375,"poses":{"pendulum":[0.16098208802577288,0,0.329780096455603,0,0.18190380991551858,0,0.9833163295390852]},"metrics":{"angle_rad":0.36584443443691045}},{"t":0.4,"poses":{"pendulum":[0.15360773831713792,0,0.32702876843797796,0,0.17329733099816227,0,0.9848695523108192]},"metrics":{"angle_rad":0.3483533546735827}},{"t":0.425,"poses":{"pendulum":[0.14581577521355746,0,0.32427971659918614,0,0.16424817468691874,0,0.9864190474195109]},"metrics":{"angle_rad":0.3299915729424911}},{"t":0.45,"poses":{"pendulum":[0.13762131792166862,0,0.3215605377028127,0,0.15477775357952828,0,0.9879493139816814]},"metrics":{"angle_rad":0.3108049841353322}},{"t":0.475,"poses":{"pendulum":[0.1290413379778568,0,0.3188986974122155,0,0.14490877364824892,0,0.9894450198569704]},"metrics":{"angle_rad":0.2908415447319418}},{"t":0.5,"poses":{"pendulum":[0.12009469969799946,0,0.31632124434733105,0,0.13466519944469305,0,0.9908911565144383]},"metrics":{"angle_rad":0.2701511529340699}},{"t":0.525,"poses":{"pendulum":[0.11080217526956876,0,0.31385452202787684,0,0.12407221028218852,0,0.9922731915333057]},"metrics":{"angle_rad":0.24878552394586348}},{"t":0.55,"poses":{"pendulum":[0.10118643278420503,0,0.3115238822690481,0,0.11315614712544655,0,0.9935772171138609]},"metrics":{"angle_rad":0.22679806071278866}},{"t":0.575,"poses":{"pendulum":[0.09127199607786138,0,0.30935340381212195,0,0.1019444500811973,0,0.9947900929832596]},"metrics":{"angle_rad":0.2042437204420787}},{"t":0.6,"poses":{"pendulum":[0.0810851758602249,0,0.307365620115522,0,0.09046558655411446,0,0.9958995821112789]},"metrics":{"angle_rad":0.1811788772383368}},{"t":0.625,"poses":{"pendulum":[0.07065397226058863,0,0.30558126029182797,0,0.07874897030598743,0,0.9968944777035064]},"metrics":{"angle_rad":0.15766118119763434}},{"t":0.65,"poses":{"pendulum":[0.06000794957718121,0,0.30401900714543617,0,0.06682487182875192,0,0.997764720014228]},"metrics":{"angle_rad":0.13374941431229367}},{"t":0.675,"poses":{"pendulum":[0.049178084673405516,0,0.30269527613957015,0,0.0547243206096623,0,0.9985015016182053]},"metrics":{"angle_rad":0.10950334354652075}},{"t":0.7,"poses":{"pendulum":[0.038196591099071836,0,0.3016240188988595,0,0.042479000025626996,0,0.9990973598988353]},"metrics":{"angle_rad":0.08498357145012052}},{"t":0.725,"poses":{"pendulum":[0.0270967216090929,0,0.3008165545369695,0,0.03012113574975174,0,0.9995462556486043]},"metrics":{"angle_rad":0.06025138468368331}},{"t":0.75,"poses":{"pendulum":[0.015912552288465838,0,0.30028143169347915,0,0.01768337868291926,0,0.9998436368344584]},"metrics":{"angle_rad":0.03536860083385145}},{"t":0.775,"poses":{"pendulum":[0.004678751954271116,0,0.3000243236794344,0,0.0051986835336157635,0,0.9999864867534547]},"metrics":{"angle_rad":0.010397413901546214}},{"t":0.8,"poses":{"pendulum":[-0.00656965912153272,0,0.3000479585788871,0,-0.0072998157425102975,0,0.9999733559901111]},"metrics":{"angle_rad":-0.014599761150644408}},{"t":0.825,"poses":{"pendulum":[-0.017797556852363693,0,0.3003520855490522,0,-0.01977893236788938,0,0.9998043777831673]},"metrics":{"angle_rad":-0.03956044440336693}},{"t":0.85,"poses":{"pendulum":[-0.028969962861173627,0,0.30093347792134156,0,-0.03220555371949876,0,0.9994812666126467]},"metrics":{"angle_rad":-0.06442224714776232}},{"t":0.875,"poses":{"pendulum":[-0.040052291361004286,0,0.30178597304777127,0,-0.044546767531703516,0,0.9990073000246176]},"metrics":{"angle_rad":-0.08912302782474604}},{"t":0.9,"poses":{"pendulum":[-0.05101058893228354,0,0.3029005481810768,0,-0.0567699860164471,0,0.9983872839172644]},"metrics":{"angle_rad":-0.11360104734654355}},{"t":0.925,"poses":{"pendulum":[-0.061811762919050786,0,0.30426543104125403,0,-0.06884306663430675,0,0.997627501714134]},"metrics":{"angle_rad":-0.13779512341225647}},{"t":0.95,"poses":{"pendulum":[-0.07242379445630551,0,0.30586624312426913,0,-0.08073442831812583,0,0.9967356480452304]},"metrics":{"angle_rad":-0.16164478343175168}},{"t":0.975,"poses":{"pendulum":[-0.08281593252956446,0,0.30768617326692277,0,-0.09241316204309387,0,0.9957207477406489]},"metrics":{"angle_rad":-0.18509041567564344}},{"t":1.0,"poses":{"pendulum":[-0.09295886594320847,0,0.30970617850967674,0,-0.10384913475099236,0,0.994593061111664]},"metrics":{"angle_rad":-0.2080734182735712}},{"t":1.025,"poses":{"pendulum":[-0.1028248706215078,0,0.31190520890831147,0,-0.11501308576907193,0,0.9933639766479737]},"metrics":{"angle_rad":-0.23053634568835638}},{"t":1.05,"poses":{"pendulum":[-0.11238793026863496,0,0.31426045264409097,0,-0.12587671501244127,0,0.9920458923949419]},"metrics":{"angle_rad":-0.2524230522999288}},{"t":1.075,"poses":{"pendulum":[-0.12162382905357223,0,0.3167475975757925,0,-0.13641276241935926,0,0.9906520873894727]},"metrics":{"angle_rad":-0.2736788327401355}},{"t":1.1,"poses":{"pendulum":[-0.1305102156441157,0,0.3193411052671425,0,-0.14659507823761236,0,0.9891965846263867]},"metrics":{"angle_rad":-0.2942505586276729}},{"t":1.125,"poses":{"pendulum":[-0.13902663857280495,0,0.32201449350807837,0,-0.15639868395325243,0,0.9876940070981957]},"metrics":{"angle_rad":-0.31408681136136957}},{"t":1.15,"poses":{"pendulum":[-0.1471545535590043,0,0.3247406234227749,0,-0.16579982382638714,0,0.9861594284998441]},"metrics":{"angle_rad":-0.33313801063991205}},{"t":1.175,"poses":{"pendulum":[-0.1548773040192696,0,0.3274919874135844,0,-0.174776007168491,0,0.9846082202166705]},"metrics":{"angle_rad":-0.351356538386777}},{"t":1.2,"poses":{"pendulum":[-0.1621800765581509,0,0.3302409944175202,0,-0.18330604165808545,0,0.9830558962193575]},"metrics":{"angle_rad":-0.3686968577706227}},{"t":1.225,"poses":{"pendulum":[-0.16904983373145901,0,0.33296024923831774,0,-0.19137005814308145,0,0.9815179574752128]},"metrics":{"angle_rad":-0.3851156270236537}},{"t":1.25,"poses":{"pendulum":[-0.1754752268039603,0,0.3356228230487366,0,-0.19894952751538814,0,0.9800097374523398]},"metrics":{"angle_rad":-0.40057180777346685}},{"t":1.275,"poses":{"pendulum":[-0.1814464915762124,0,0.33820251252019096,0,-0.20602727036376886,0,0.9785462502439292]},"metrics":{"angle_rad":-0.41502676761761104}},{"t":1.3,"poses":{"pendulum":[-0.1869553306261193,0,0.34067408541544986,0,-0.21258746021200017,0,0.9771420427760803]},"metrics":{"angle_rad":-0.42844437668447366}},{"t":1.325,"poses":{"pendulum":[-0.19199478549755006,0,0.3430135108609258,0,-0.21861562122930087,0,0.9758110524863545]},"metrics":{"angle_rad":-0.44079109793914295}},{"t":1.35,"poses":{"pendulum":[-0.1965591024710818,0,0.3451981728848513,0,-0.22409862135738182,0,0.9745664717738451]},"metrics":{"angle_rad":-0.4520360710085306}},{"t":1.375,"poses":{"pendulum":[-0.2006435955726581,0,0.3472070661547355,0,-0.22902466183248454,0,0.9734206204270157]},"metrics":{"angle_rad":-0.4621511893162318}},{"t":1.4,"poses":{"pendulum":[-0.20424451041848893,0,0.3490209731620471,0,-0.23338326409112992,0,0.9723848271349003]},"metrics":{"angle_rad":-0.47111117033432903}},{"t":1.425,"poses":{"pendulum":[-0.20735889236400037,0,0.35062262237631076,0,-0.23716525503517755,0,0.9714693210822971]},"metrics":{"angle_rad":-0.4788936187765452}},{"t":1.45,"poses":{"pendulum":[-0.20998446222727746,0,0.351996827119279,0,-0.2403627515959044,0,0.970683134521892]},"metrics":{"angle_rad":-0.4854790825747953}},{"t":1.475,"poses":{"pendulum":[-0.21211950260014387,0,0.35313060508944816,0,-0.24296914547930235,0,0.9700340171071619]},"metrics":{"angle_rad":-0.49085110149922706}},{"t":1.5,"poses":{"pendulum":[-0.21376275745013776,0,0.35401327859723175,0,-0.24497908889724485,0,0.9695283626604617]},"metrics":{"angle_rad":-0.4949962483002227}},{"t":1.525,"poses":{"pendulum":[-0.2149133473617154,0,0.3546365556531779,0,-0.24638848199355143,0,0.9691711489416683]},"metrics":{"angle_rad":-0.4979041622695306}},{"t":1.55,"poses":{"pendulum":[-0.215570702372591,0,0.3549945920894401,0,-0.24719446256257468,0,0.9689658908745962]},"metrics":{"angle_rad":-0.49956757513663974}},{"t":1.575,"poses":{"pendulum":[-0.21573451393862475,0,0.3550840348939216,0,-0.2473953985333366,0,0.9689146075813552]},"metrics":{"angle_rad":-0.499982329235671}},{"t":1.6,"poses":{"pendulum":[-0.21540470711533904,0,0.35490404690435634,0,-0.24699088355726007,0,0.9690178034688548]},"metrics":{"angle_rad":-0.49914738789737656}},{"t":1.625,"poses":{"pendulum":[-0.21458143358299528,0,0.35445631295460345,0,-0.24598173589517547,0,0.9692744635065943]},"metrics":{"angle_rad":-0.4970648380402731}},{"t":1.65,"poses":{"pendulum":[-0.21326508567206034,0,0.3537450274970814,0,-0.24437000065265652,0,0.9696820627303676]},"metrics":{"angle_rad":-0.49373988495443244}},{"t":1.675,"poses":{"pendulum":[-0.21145633107355882,0,0.35277686365355115,0,-0.2421589552650425,0,0.970236589902145]},"metrics":{"angle_rad":-0.48918083929096706}},{"t":1.7,"poses":{"pendulum":[-0.20915616745095925,0,0.3515609235815012,0,-0.23935311798795714,0,0.9709325851517412]},"metrics":{"angle_rad":-0.48339909628973055}},{"t":1.725,"poses":{"pendulum":[-0.20636599571364314,0,0.350108669995064,0,-0.23595825900890935,0,0.9717631913205421]},"metrics":{"angle_rad":-0.47640910729715236}},{"t":1.75,"poses":{"pendulum":[-0.20308771027355751,0,0.3484338386568864,0,-0.23198141366374442,0,0.9727202186212491]},"metrics":{"angle_rad":-0.46822834364539817}},{"t":1.775,"poses":{"pendulum":[-0.1993238041934513,0,0.34655233166883875,0,-0.22743089712124956,0,0.9737942221201683]},"metrics":{"angle_rad":-0.458877252983138}},{"t":1.8,"poses":{"pendulum":[-0.19507748675444597,0,0.34448209144161224,0,-0.22231631979284786,0,0.9749745914400868]},"metrics":{"angle_rad":-0.4483792081670735}},{"t":1.825,"poses":{"pendulum":[-0.1903528106300653,0,0.342242955321144,0,-0.21664860263452754,0,0.9762496519725405]},"metrics":{"angle_rad":-0.43676044884196896}},{"t":1.85,"poses":{"pendulum":[-0.1851548055608125,0,0.339856490996459,0,-0.21043999143714479,0,0.9776067767788511]},"metrics":{"angle_rad":-0.424050015855204}},{"t":1.875,"poses":{"pendulum":[-0.1794896151854355,0,0.3373458130097499,0,-0.20370406915084197,0,0.9790325082505631]},"metrics":{"angle_rad":-0.4102796786697804}},{"t":1.9,"poses":{"pendulum":[-0.17336463350939096,0,0.33473538093385014,0,-0.19645576526098169,0,0.9805126884929751]},"metrics":{"angle_rad":-0.3954838559572084}},{"t":1.925,"poses":{"pendulum":[-0.1667886373844266,0,0.3320507800707767,0,-0.1887113612277188,0,0.9820325972917505]},"metrics":{"angle_rad":-0.3796995295687539}},{"t":1.95,"poses":{"pendulum":[-0.15977191134151136,0,0.3293184858514933,0,-0.180488491019644,0,0.9835770964237892]},"metrics":{"angle_rad":-0.3629661521000701}},{"t":1.975,"poses":{"pendulum":[-0.15232636116730736,0,0.32656561347296437,0,-0.1718061358138693,0,0.9851307789815047]},"metrics":{"angle_rad":-0.3453255482802538}},{"t":2.0,"poses":{"pendulum":[-0.14446561274522066,0,0.3238196546834334,0,-0.16268461200000656,0,0.9866781222964293]},"metrics":{"angle_rad":-0.32682181043180597}},{"t":2.025,"poses":{"pendulum":[-0.13620509289721672,0,0.3211082040084462,0,-0.15314555171269167,0,0.9882036429757863]},"metrics":{"angle_rad":-0.3075011882627872}},{"t":2.05,"poses":{"pendulum":[-0.12756208926135998,0,0.3184586770849438,0,-0.14321187522511214,0,0.989692052506489]},"metrics":{"angle_rad":-0.2874119732666346}},{"t":2.075,"poses":{"pendulum":[-0.11855578661938886,0,0.31589802412444845,0,-0.13290775466234905,0,0.9911284118370398]},"metrics":{"angle_rad":-0.26660437801857717}},{"t":2.1,"poses":{"pendulum":[-0.10920727754303562,0,0.3134524418443755,0,-0.12225856863574686,0,0.9924982833210032]},"metrics":{"angle_rad":-0.2451304106703497}},{"t":2.125,"poses":{"pendulum":[-0.09953954574911743,0,0.31114708747456243,0,-0.111290847555016,0,0.9937878783978431]},"metrics":{"angle_rad":-0.2230437449568964}},{"t":2.15,"poses":{"pendulum":[-0.08957742113103151,0,0.30900579865091893,0,-0.1000322095400552,0,0.9949841993994349]},"metrics":{"angle_rad":-0.20039958603998773}},{"t":2.175,"poses":{"pendulum":[-0.07934750605516319,0,0.30705082313788434,0,-0.08851128702590745,0,0.996075173904569]},"metrics":{"angle_rad":-0.17725453252406598}},{"t":2.2,"poses":{"pendulum":[-0.06887807315979629,0,0.3053025623665077,0,-0.076757644328017,0,0.9970497801199365]},"metrics":{"angle_rad":-0.15366643498920968}},{"t":2.225,"poses":{"pendulum":[-0.05819893555464699,0,0.30377933272840657,0,-0.0648016866070511,0,0.9978981618446251]},"metrics":{"angle_rad":-0.12969425139481305}},{"t":2.25,"poses":{"pendulum":[-0.047341290973212505,0,0.3024971484236222,0,-0.052674560838987645,0,0.9986117316757398]},"metrics":{"angle_rad":-0.10539789971538985}},{"t":2.275,"poses":{"pendulum":[-0.03633754205927769,0,0.3014695294218126,0,-0.040408049553036784,0,0.9991832612345541]},"metrics":{"angle_rad":-0.08083810817684325}},{"t":2.3,"poses":{"pendulum":[-0.025221095554757905,0,0.30070733776410524,0,-0.02803445824348804,0,0.9996069573342286]},"metrics":{"angle_rad":-0.056076263467527435}},{"t":2.325,"poses":{"pendulum":[-0.014026143680999022,0,0.3002186450135577,0,-0.015586497488309065,0,0.9998785231697134]},"metrics":{"angle_rad":-0.03117425730349583}},{"t":2.35,"poses":{"pendulum":[-0.0027874314535646224,0,0.3000086331651554,0,-0.003097160914163917,0,0.999995203785634]},"metrics":{"angle_rad":-0.00619433173144528}},{"t":2.375,"poses":{"pendulum":[0.008459985972595988,0,0.30007953076422106,0,0.009400399768159222,0,0.999955815265954]},"metrics":{"angle_rad":0.018801076443988277}},{"t":2.4,"poses":{"pendulum":[0.019680991576195673,0,0.3004305853702037,0,0.021873001374187497,0,0.9997607572869045]},"metrics":{"angle_rad":0.0437494917197232}},{"t":2.425,"poses":{"pendulum":[0.030840655865491687,0,0.30105807285820774,0,0.0342875561847109,0,0.9994120088786608]},"metrics":{"angle_rad":0.06858855605045365}},{"t":2.45,"poses":{"pendulum":[0.04190448287279218,0,0.3019553433917955,0,0.04661119788915206,0,0.9989131074479594]},"metrics":{"angle_rad":0.09325618471128788}},{"t":2.475,"poses":{"pendulum":[0.05283864831064522,0,0.30311290324657625,0,0.058811405229637945,0,0.9982691113196458]},"metrics":{"angle_rad":0.11769072147722559}},{"t":2.5,"poses":{"pendulum":[0.06361022565331394,0,0.3045185310337427,0,0.0708561220890042,0,0.9974865462563934]},"metrics":{"angle_rad":0.14183109273161312}},{"t":2.525,"poses":{"pendulum":[0.07418739621450195,0,0.30615742628392156,0,0.08271387283831456,0,0.9965733366090461]},"metrics":{"angle_rad":0.16561696011837684}},{"t":2.55,"poses":{"pendulum":[0.08453963969668832,0,0.3080123878207059,0,0.09435387185546561,0,0.9955387219319409]},"metrics":{"angle_rad":0.18898887135649012}},{"t":2.575,"poses":{"pendulum":[0.0946379021760929,0,0.3100640188939892,0,0.10574612624367656,0,0.994393160065201]},"metrics":{"angle_rad":0.2118884088397141}},{"t":2.6,"poses":{"pendulum":[0.10445473904507657,0,0.31229095566686654,0,0.11686153091428135,0,0.9931482178367791]},"metrics":{"angle_rad":0.23425833565018855}},{"t":2.625,"poses":{"pendulum":[0.11396443104373523,0,0.3146701153643622,0,0.1276719553489515,0,0.99181645066886]},"metrics":{"angle_rad":0.25604273862092036}},{"t":2.65,"poses":{"pendulum":[0.12314307215647925,0,0.3171769602021351,0,0.13815032151864745,0,0.9904112724844636]},"metrics":{"angle_rad":0.2771871680895804}},{"t":2.675,"poses":{"pendulum":[0.13196862880901603,0,0.31978577311963735,0,0.14827067260639448,0,0.9889468173996251]},"metrics":{"angle_rad":0.29763877399430305}},{"t":2.7,"poses":{"pendulum":[0.14042097045808175,0,0.32246994134258755,0,0.15800823235440595,0,0.9874377947537941]},"metrics":{"angle_rad":0.31734643797131734}},{"t":2.725,"poses":{"pendulum":[0.1484818723031227,0,0.3252022438885074,0,0.16733945502914924,0,0.9858993390760272]},"metrics":{"angle_rad":0.33626090112423296}},{"t":2.75,"poses":{"pendulum":[0.15613499144994125,0,0.3279551392980519,0,0.1762420661667479,0,0.9843468566076065]},"metrics":{"angle_rad":0.35433488714563}},{"t":2.775,"poses":{"pendulum":[0.16336581840700903,0,0.33070105011315837,0,0.1846950944218857,0,0.982795870003782]},"metrics":{"angle_rad":0.37152322048320496}},{"t":2.8,"poses":{"pendulum":[0.1701616062838922,0,0.33341264091803546,0,0.1926788949926664,0,0.9812618628197088]},"metrics":{"angle_rad":0.3877829392551248}},{"t":2.825,"poses":{"pendulum":[0.17651128047862377,0,0.33606308709684196,0,0.200175165228529,0,0.9797601253499405]},"metrics":{"angle_rad":0.40307340263235786}},{"t":2.85,"poses":{"pendulum":[0.18240533198009598,0,0.33862633182806784,0,0.20716695314559921,0,0.9783056033389409]},"metrics":{"angle_rad":0.4173563924195799}},{"t":2.875,"poses":{"pendulum":[0.18783569766836639,0,0.3410773292156107,0,0.21363865967149784,0,0.9769127510140124]},"metrics":{"angle_rad":0.4305962085807604}},{"t":2.9,"poses":{"pendulum":[0.19279563116833512,0,0.34339227183635174,0,0.2195760355178227,0,0.975595389813972]},"metrics":{"angle_rad":0.44275975847065946}},{"t":2.925,"poses":{"pendulum":[0.19727956790099171,0,0.3455488013507711,0,0.22496617363202534,0,0.974366574098971]},"metrics":{"angle_rad":0.4538166395492066}},{"t":2.95,"poses":{"pendulum":[0.20128298798370456,0,0.3475262011654027,0,0.22979749821044798,0,0.9732384650311655]},"metrics":{"angle_rad":0.46373921537201795}},{"t":2.975,"poses":{"pendulum":[0.20480228056088284,0,0.3493055704441832,0,0.23405975126066328,0,0.972222213714435]},"metrics":{"angle_rad":0.47250268466711376}},{"t":3.0,"poses":{"pendulum":[0.20783461300412842,0,0.35086997903261624,0,0.23774397768425004,0,0.9713278545758228]},"metrics":{"angle_rad":0.480085143325183}},{"t":3.025,"poses":{"pendulum":[0.21037780821305108,0,0.35220460307907947,0,0.24084250981151673,0,0.9705642098633606]},"metrics":{"angle_rad":0.4864676391484487}},{"t":3.05,"poses":{"pendulum":[0.2124302329812591,0,0.35329684130885974,0,0.243348952258685,0,0.9699388060257205]},"metrics":{"angle_rad":0.49163421922129225}},{"t":3.075,"poses":{"pendulum":[0.21399070007404794,0,0.35413641202831136,0,0.24525816789731178,0,0.9694578026297246]},"metrics":{"angle_rad":0.4955719697842345}},{"t":3.1,"poses":{"pendulum":[0.21505838630255203,0,0.35471543101084463,0,0.24656626562728115,0,0.9691259343628242]},"metrics":{"angle_rad":0.49827104851160875}},{"t":3.125,"poses":{"pendulum":[0.21563276848113055,0,0.35502847044734587,0,0.24727059053089068,0,0.968946466559688]},"metrics":{"angle_rad":0.4997247091122497}},{"t":3.15,"poses":{"pendulum":[0.21571357872792105,0,0.3550725991370148,0,0.24736971685900705,0,0.9689211645851765]},"metrics":{"angle_rad":0.49992931819170755}},{"t":3.175,"poses":{"pendulum":[0.21530078012001694,0,0.35484740405798654,0,0.24686344416383227,0,0.9690502773001876]},"metrics":{"angle_rad":0.49888436433384203}},{"t":3.2,"poses":{"pendulum":[0.21439456325159897,0,0.3543549933991886,0,0.2457527967495172,0,0.9693325347319105]},"metrics":{"angle_rad":0.4965924593790963}},{"t":3.225,"poses":{"pendulum":[0.2129953637723994,0,0.3535999810652587,0,0.24404002646482836,0,0.9697651599655691]},"metrics":{"angle_rad":0.4930593318962563}},{"t":3.25,"poses":{"pendulum":[0.2111039005118325,0,0.3525894525950647,0,0.24172861871451515,0,0.9703438951703528]},"metrics":{"angle_rad":0.48829381286401174}},{"t":3.275,"poses":{"pendulum":[0.2087212333276911,0,0.35133291237152825,0,0.23882330142115135,0,0.9710630415674885]},"metrics":{"angle_rad":0.48230781359810904}},{"t":3.3,"poses":{"pendulum":[0.20584883936427364,0,0.34984221195585674,0,0.2353300565302008,0,0.9719155130429252]},"metrics":{"angle_rad":0.4751162959792648}},{"t":3.325,"poses":{"pendulum":[0.20248870597010224,0,0.34813145936195317,0,0.2312561335209492,0,0.972892903000603]},"metrics":{"angle_rad":0.4667372350562559}},{"t":3.35,"poses":{"pendulum":[0.19864343811714952,0,0.3462169091046553,0,0.22661006426766392,0,0.9739855639446641]},"metrics":{"angle_rad":0.4571915741176597}},{"t":3.375,"poses":{"pendulum":[0.1943163777890431,0,0.3441168329150051,0,0.22140167849159267,0,0.9751826991703172]},"metrics":{"angle_rad":0.44650317234453835}},{"t":3.4,"poses":{"pendulum":[0.18951173247256736,0,0.341851371121688,0,0.21564211895764296,0,0.976472465833757]},"metrics":{"angle_rad":0.43469874517491264}},{"t":3.425,"poses":{"pendulum":[0.18423470960248434,0,0.33944236485276724,0,0.20934385550191836,0,0.9778420885621522]},"metrics":{"angle_rad":0.4218077975290798}},{"t":3.45,"poses":{"pendulum":[0.17849165358173427,0,0.33691316941633426,0,0.20252069692951347,0,0.9792779826561936]},"metrics":{"angle_rad":0.4078625500626784}},{"t":3.475,"poses":{"pendulum":[0.17229018183460532,0,0.33428844947079156,0,0.19518779979744733,0,0.9807658858311863]},"metrics":{"angle_rad":0.3928978586318305}},{"t":3.5,"poses":{"pendulum":[0.16563931625607453,0,0.33159395689089277,0,0.18736167309627755,0,0.9822909973396701]},"metrics":{"angle_rad":0.3769511271716523}},{"t":3.525,"poses":{"pendulum":[0.15854960640194168,0,0.32885629256773957,0,0.17906017786623693,0,0.9838381232207418]},"metrics":{"angle_rad":0.36006221420589707}},{"t":3.55,"poses":{"pendulum":[0.151033240826087,0,0.326102653740827,0,0.17030252082960745,0,0.9853918263305623]},"metrics":{"angle_rad":0.3422733332214033}},{"t":3.575,"poses":{"pendulum":[0.14310414311616249,0,0.3233605688371164,0,0.16110924118993303,0,0.9869365797269873]},"metrics":{"angle_rad":0.3236289471563618}},{"t":3.6,"poses":{"pendulum":[0.13477804940834606,0,0.3206576221735369,0,0.15150218983946095,0,0.9884569219110401]},"metrics":{"angle_rad":0.3041756572661273}},{"t":3.625,"poses":{"pendulum":[0.1260725644743848,0,0.3180211712515854,0,0.14150450032727827,0,0.9899376123711672]},"metrics":{"angle_rad":0.2839620866443474}},{"t":3.65,"poses":{"pendulum":[0.117007193866589,0,0.3154780597214147,0,0.1311405510698549,0,0.9913637858349955]},"metrics":{"angle_rad":0.26303875869055265}},{"t":3.675,"poses":{"pendulum":[0.10760335007271941,0,0.31305432940338246,0,0.12043591843051948,0,0.9927211036095673]},"metrics":{"angle_rad":0.2414579708279689}},{"t":3.7,"poses":{"pendulum":[0.09788433116430878,0,0.3107749350133625,0,0.10941732045177871,0,0.9939959003864919]},"metrics":{"angle_rad":0.21927366378719518}},{"t":3.725,"poses":{"pendulum":[0.08787527100780805,0,0.30866346543107914,0,0.09811255119096145,0,0.995175324904512]},"metrics":{"angle_rad":0.19654128678247038}},{"t":3.75,"poses":{"pendulum":[0.07760306073467119,0,0.30674187546688897,0,0.0865504057817627,0,0.9962474728996868]},"metrics":{"angle_rad":0.1733176589175129}},{"t":3.775,"poses":{"pendulum":[0.06709624181871261,0,0.30503023211255703,0,0.07476059651801925,0,0.997201510833327]},"metrics":{"angle_rad":0.14966082716735354}},{"t":3.8,"poses":{"pendulum":[0.05638487176978685,0,0.3035464791991167,0,0.06277366042746793,0,0.9980277889700953]},"metrics":{"angle_rad":0.12562992129112785}},{"t":3.825,"poses":{"pendulum":[0.04550036410402191,0,0.30230622422642345,0,0.05062085896834155,0,0.9987179424829151]},"metrics":{"angle_rad":0.10128500603847217}},{"t":3.85,"poses":{"pendulum":[0.03447530487397652,0,0.30132255087441007,0,0.03833407063653306,0,0.9992649793865656]},"metrics":{"angle_rad":0.07668693101893218}},{"t":3.875,"poses":{"pendulum":[0.02334324861888632,0,0.3006058603587305,0,0.025945677411992617,0,0.9996633542466348]},"metrics":{"angle_rad":0.05189717860962648}},{"t":3.9,"poses":{"pendulum":[0.012138497108235611,0,0.3001637443602913,0,0.013488446096620851,0,0.9999090267728853]},"metrics":{"angle_rad":0.026977710281324875}},{"t":3.925,"poses":{"pendulum":[0.0008958646853995715,0,0.30000089174925526,0,0.0009954056991398077,0,0.9999995045836243]},"metrics":{"angle_rad":0.0019908117270398696}},{"t":3.95,"poses":{"pendulum":[-0.010349565641529404,0,0.30011903075254265,0,-0.011500277897252982,0,0.9999338696175293]},"metrics":{"angle_rad":-0.023001062819768475}},{"t":3.975,"poses":{"pendulum":[-0.021562690978219036,0,0.3005169075952046,0,-0.023965428693214864,0,0.9997127878683709]},"metrics":{"angle_rad":-0.04793544668824891}},{"t":4.0,"poses":{"pendulum":[-0.03270863768352366,0,0.3011903019977309,0,-0.0363669874371878,0,0.9993385023227832]},"metrics":{"angle_rad":-0.07275001690430677}},{"t":4.025,"poses":{"pendulum":[-0.04375300635223207,0,0.3021320792519947,0,-0.04867213727237379,0,0.9988148091880392]},"metrics":{"angle_rad":-0.09738274996558068}},{"t":4.05,"poses":{"pendulum":[-0.054662108230127376,0,0.30333227794719947,0,-0.06084842686909736,0,0.9981470177020798]},"metrics":{"angle_rad":-0.12177207686789555}},{"t":4.075,"poses":{"pendulum":[-0.06540318886940152,0,0.30477823179261165,0,-0.07286388979621679,0,0.9973418940181771]},"metrics":{"angle_rad":-0.14585703699571326}},{"t":4.1,"poses":{"pendulum":[-0.0759446351569089,0,0.3064547234037048,0,-0.08468715896170656,0,0.9964075898481478]},"metrics":{"angle_rad":-0.16957743049191726}},{"t":4.125,"poses":{"pendulum":[-0.08625616226728579,0,0.3083441673985051,0,-0.09628757505228874,0,0.9953535567277337]},"metrics":{"angle_rad":-0.1928739687261109}},{"t":4.15,"poses":{"pendulum":[-0.09630897759434413,0,0.3104268197049186,0,-0.10763528802250383,0,0.9941904469327356]},"metrics":{"angle_rad":-0.2156884224853104}},{"t":4.175,"poses":{"pendulum":[-0.10607591928194972,0,0.3126810096182773,0,-0.11870135082203048,0,0.9929300022222237]},"metrics":{"angle_rad":-0.23796376751665482}},{"t":4.2,"poses":{"pendulum":[-0.11553156759254826,0,0.3150833908786554,0,-0.12945780470294554,0,0.9915849317136147]},"metrics":{"angle_rad":-0.2596443270583428}},{"t":4.225,"poses":{"pendulum":[-0.12465232799945919,0,0.31760920786363267,0,-0.1398777556123467,0,0.9901687803020517]},"metrics":{"angle_rad":-0.28067591100253575}},{"t":4.25,"poses":{"pendulum":[-0.13341648554949687,0,0.320232572914581,0,-0.1499354413464566,0,0.9886957891223384]},"metrics":{"angle_rad":-0.3010059513424118}},{"t":4.275,"poses":{"pendulum":[-0.14180423069720138,0,0.322926750830288,0,-0.1596062893159568,0,0.9871807496151812]},"metrics":{"angle_rad":-0.3205836335648009}},{"t":4.3,"poses":{"pendulum":[-0.14979765744384213,0,0.32566444666474464,0,-0.16886696494494208,0,0.9856388528007018]},"metrics":{"angle_rad":-0.3393600236600062}},{"t":4.325,"poses":{"pendulum":[-0.15738073520765794,0,0.328418093147373,0,-0.17769541089357566,0,0.9840855353816371]},"metrics":{"angle_rad":-0.35728819043134596}},{"t":4.35,"poses":{"pendulum":[-0.16453925639283673,0,0.33116013429272,0,-0.18607087745360787,0,0.9825363242972976]},"metrics":{"angle_rad":-0.37432332279869934}},{"t":4.375,"poses":{"pendulum":[-0.17126076210207428,0,0.3338633020698406,0,-0.1939739446129603,0,0.9810066813285668]},"metrics":{"angle_rad":-0.39042284180287457}},{"t":4.4,"poses":{"pendulum":[-0.17753444884219577,0,0.33650088334520256,0,-0.20138653641747026,0,0.9795118493156553]},"metrics":{"angle_rad":-0.405546507030828}},{"t":4.425,"poses":{"pendulum":[-0.18335105939794666,0,0.33904697468244543,0,-0.20829192837203123,0,0.9780667014958953]},"metrics":{"angle_rad":-0.4196565171957419}},{"t":4.45,"poses":{"pendulum":[-0.1887027612917659,0,0.3414767229632284,0,-0.21467474871749698,0,0.9766855954006282]},"metrics":{"angle_rad":-0.43271760462055614}},{"t":4.475,"poses":{"pendulum":[-0.19358301640574183,0,0.3437665501718817,0,-0.2205209744921777,0,0.9753822326703621]},"metrics":{"angle_rad":-0.44469712338879064}},{"t":4.5,"poses":{"pendulum":[-0.19798644541678198,0,0.3458943610499507,0,-0.2258179233363579,0,0.974169526057993]},"metrics":{"angle_rad":-0.45556513094233847}},{"t":4.525,"poses":{"pendulum":[-0.20190869068995346,0,0.3478397326638686,0,-0.23055424202432173,0,0.973059474793083]},"metrics":{"angle_rad":-0.46529446292226423}},{"t":4.55,"poses":{"pendulum":[-0.20534628119229414,0,0.34958408523075,0,-0.2347198927107941,0,0.9720630493778855]},"metrics":{"angle_rad":-0.47386080106555595}},{"t":4.575,"poses":{"pendulum":[-0.20829650283565712,0,0.3511108338066386,0,-0.23830613785781846,0,0.9711900867797665]},"metrics":{"angle_rad":-0.4812427339881187}},{"t":4.6,"poses":{"pendulum":[-0.21075727743883244,0,0.3524055206538061,0,-0.24130552476478187,0,0.9704491968763709]},"metrics":{"angle_rad":-0.4874218107020818}},{"t":4.625,"poses":{"pendulum":[-0.21272705322337546,0,0.35345592826660593,0,-0.24371187055985674,0,0.9698476809005709]},"metrics":{"angle_rad":-0.4923825867336618}},{"t":4.65,"poses":{"pendulum":[-0.21420470943168896,0,0.35425217314900426,0,-0.24552024842725806,0,0.9693914625228641]},"metrics":{"angle_rad":-0.4961126627263017}},{"t":4.675,"poses":{"pendulum":[-0.2151894772875348,0,0.35478678050359,0,-0.2467269757435219,0,0.9690850321001019]},"metrics":{"angle_rad":-0.498602715432606}},{"t":4.7,"poses":{"pendulum":[-0.21568087911579217,0,0.35505474001598775,0,-0.24732960467986334,0,0.9689314045116416]},"metrics":{"angle_rad":-0.49984652101760324}},{"t":4.725,"poses":{"pendulum":[-0.2156786870073073,0,0.3550535429063783,0,-0.24732691569926069,0,0.9689320908973398]},"metrics":{"angle_rad":-0.4998409706150924}},{"t":4.75,"poses":{"pendulum":[-0.2151829019632541,0,0.35478320037899125,0,-0.24671891423910655,0,0.969087084506174]},"metrics":{"angle_rad":-0.4985860780981892}},{"t":4.775,"poses":{"pendulum":[-0.21419375398850962,0,0.3542462435398625,0,-0.24550683072611354,0,0.9693948607594428]},"metrics":{"angle_rad":-0.49608498004465046}},{"t":4.8,"poses":{"pendulum":[-0.21271172313194522,0,0.35344770478253607,0,-0.24369312392281872,0,0.9698523915280808]},"metrics":{"angle_rad":-0.4923439278970635}},{"t":4.825,"poses":{"pendulum":[-0.21073758099996037,0,0.3523950805708195,0,-0.24128148745769828,0,0.9704551735192103]},"metrics":{"angle_rad":-0.48737227233749464}},{"t":4.85,"poses":{"pendulum":[-0.20827245180476237,0,0.3510982754872662,0,-0.23827685924679726,0,0.9711972705622076]},"metrics":{"angle_rad":-0.4811824399156551}},{"t":4.875,"poses":{"pendulum":[-0.2053178915576162,0,0.3495695273754319,0,-0.23468543337703945,0,0.9720713694789243]},"metrics":{"angle_rad":-0.4737899019889966}},{"t":4.9,"poses":{"pendulum":[-0.20187598358653586,0,0.34782331339202577,0,-0.2305146738930705,0,0.9730688491160178]},"metrics":{"angle_rad":-0.46521313605237663}},{"t":4.925,"poses":{"pendulum":[-0.19794944815480248,0,0.34587623680955215,0,-0.22577332981346124,0,0.9741798620095481]},"metrics":{"angle_rad":-0.4554735795539438}},{"t":4.95,"poses":{"pendulum":[-0.19354176358866898,0,0.3437468944771157,0,-0.22047145060104395,0,0.9753934280432032]},"metrics":{"angle_rad":-0.44459557631268043}},{"t":4.975,"poses":{"pendulum":[-0.1886572959971445,0,0.3414557249611178,0,-0.2146204012284579,0,0.9766975393521454]},"metrics":{"angle_rad":-0.432606315671536}},{"t":5.0,"poses":{"pendulum":[-0.18330143439140645,0,0.3390248375509136,0,-0.2082328759157071,0,0.9780792756151587]},"metrics":{"angle_rad":-0.4195357645382262}},{"t":5.025,"poses":{"pendulum":[-0.17748072779362192,0,0.33647782252719954,0,-0.20132290957342786,0,0.9795249287694976]},"metrics":{"angle_rad":-0.40541659248357337}},{"t":5.05,"poses":{"pendulum":[-0.1712030207718218,0,0.3338395433506408,0,-0.19390588596487507,0,0.9810201360768172]},"metrics":{"angle_rad":-0.39028409008459186}},{"t":5.075,"poses":{"pendulum":[-0.16447758375546812,0,0.3311359117303526,0,-0.1859985416022651,0,0.9825500203663071]},"metrics":{"angle_rad":-0.37417608071642333}},{"t":5.1,"poses":{"pendulum":[-0.15731523448099496,0,0.32839364686927497,0,-0.17761896441939046,0,0.9840993361844034]},"metrics":{"angle_rad":-0.35713282601360014}},{"t":5.125,"poses":{"pendulum":[-0.1497284469921508,0,0.32564002054703756,0,-0.16878658631221452,0,0.9856526204911492]},"metrics":{"angle_rad":-0.33919692523692263}},{"t":5.15,"poses":{"pendulum":[-0.1417314447791184,0,0.3229025900794718,0,-0.15952216871182576,0,0.9871943464634894]},"metrics":{"angle_rad":-0.32041320879749663}},{"t":5.175,"poses":{"pendulum":[-0.1333402748838377,0,0.3202089215747928,0,-0.1498477804484449,0,0.9887090788976678]},"metrics":{"angle_rad":-0.300828626204051}},{"t":5.2,"poses":{"pendulum":[-0.12457286012529506,0,0.317586306275803,0,-0.1397867672794809,0,0.9901816296485975]},"metrics":{"angle_rad":-0.2804921287136144}},{"t":5.225,"poses":{"pendulum":[-0.1154490270038811,0,0.31506147312079014,0,-0.1293637125866883,0,0.9915972115056539]},"metrics":{"angle_rad":-0.25945454697887127}},{"t":5.25,"poses":{"pendulum":[-0.10599050732184341,0,0.3126603009585589,0,-0.11860438889461666,0,0.9929415888837241]},"metrics":{"angle_rad":-0.23776846399799625}},{"t":5.275,"poses":{"pendulum":[-0.09622091209843485,0,0.3104075341012482,0,-0.10753570002173535,0,0.9942012237071706]},"metrics":{"angle_rad":-0.21548808368454855}},{"t":5.3,"poses":{"pendulum":[-0.08616567695205798,0,0.30832650507938153,0,-0.0961856138433598,0,0.9953634148840191]},"metrics":{"angle_rad":-0.1926690953859148}},{"t":5.325,"poses":{"pendulum":[-0.07585197875385637,0,0.3064388685658711,0,-0.0845830858181676,0,0.9964164298090816]},"metrics":{"angle_rad":-0.16936853468894067}},{"t":5.35,"poses":{"pendulum":[-0.06530862401207119,0,0.30476435045062944,0,-0.07275797360373361,0,0.9973496263984253]},"metrics":{"angle_rad":-0.14564464086067275}},{"t":5.375,"poses":{"pendulum":[-0.05456591010686904,0,0.30332051596899023,0,-0.06074094325713878,0,0.9981535642436153]},"metrics":{"angle_rad":-0.121556711280515}},{"t":5.4,"poses":{"pendulum":[-0.04365546114312723,0,0.3021225606124138,0,-0.04856336768038055,0,0.9988201035819915]},"metrics":{"angle_rad":-0.0971649532276674}},{"t":5.425,"poses":{"pendulum":[-0.03261004080525271,0,0.3011831272794217,0,-0.03625721812307373,0,0.9993424909078849]},"metrics":{"angle_rad":-0.07253033339428094}},{"t":5.45,"poses":{"pendulum":[-0.02146334516538776,0,0.30051215276237847,0,-0.02385494969319619,0,0.9997154301975814]},"metrics":{"angle_rad":-0.047714425500475326}},{"t":5.475,"poses":{"pendulum":[-0.010249778897098707,0,0.3001167462190212,0,-0.011389381946999979,0,0.9999351388859506]},"metrics":{"angle_rad":-0.02277925639211185}},{"t":5.5,"poses":{"pendulum":[0.0009957812346371893,0,0.30000110175720124,0,0.0011064242712698113,0,0.9999993879124787]},"metrics":{"angle_rad":0.0022128489940253927}},{"t":5.525,"poses":{"pendulum":[0.012238231412751748,0,0.30016644668067727,0,0.013599292492924539,0,0.9999075253460651]},"metrics":{"angle_rad":0.027199423410107053}},{"t":5.55,"poses":{"pendulum":[0.023442489924262348,0,0.3006110263189017,0,0.026056057493661675,0,0.999660483298148]},"metrics":{"angle_rad":0.052118013432848435}},{"t":5.575,"poses":{"pendulum":[0.03457374591524675,0,0.3013301257122471,0,0.0384436920450205,0,0.9992607680390277]},"metrics":{"angle_rad":0.07690633556454529}},{"t":5.6,"poses":{"pendulum":[0.04559770323685809,0,0.302316127764777,0,0.05072943222821174,0,0.9987124334390772]},"metrics":{"angle_rad":0.1015024319093752}},{"t":5.625,"poses":{"pendulum":[0.05648081500049626,0,0.30355860682853375,0,0.06288090001947902,0,0.9980210380611925]},"metrics":{"angle_rad":0.1258448250358772}},{"t":5.65,"poses":{"pendulum":[0.06719050469758989,0,0.30504445606500963,0,0.07486622191178093,0,0.9971935864297644]},"metrics":{"angle_rad":0.14987267163850745}},{"t":5.675,"poses":{"pendulum":[0.07769537008071,0,0.30675804635840087,0,0.0866541424181394,0,0.9962384551912141]},"metrics":{"angle_rad":0.17352591461421912}},{"t":5.7,"poses":{"pendulum":[0.08796536643700674,0,0.308681414046946,0,0.09821413140540293,0,0.9951653050585527]},"metrics":{"angle_rad":0.19674543317394544}},{"t":5.725,"poses":{"pendulum":[0.09797196639866494,0,0.31079447430618673,0,0.10951648433093293,0,0.9939849795946579]},"metrics":{"angle_rad":0.21947319061377696}},{"t":5.75,"poses":{"pendulum":[0.10768829401237598,0,0.3130752566714674,0,0.12053241459581376,0,0.9927093920335915]},"metrics":{"angle_rad":0.24165237937650294}},{"t":5.775,"poses":{"pendulum":[0.11708923141327111,0,0.3155001589332288,0,0.1312341373831468,0,0.9913514014643351]},"metrics":{"angle_rad":0.263227563040914}},{"t":5.8,"poses":{"pendulum":[0.12615149710012738,0,0.3180442154810326,0,0.14159494451518562,0,0.9899246798053585]},"metrics":{"angle_rad":0.2841448148839868}},{"t":5.825,"poses":{"pendulum":[0.13485369546936757,0,0.32068137611063846,0,0.15158927003451889,0,0.9884435710805153]},"metrics":{"angle_rad":0.30435185266960935}},{"t":5.85,"poses":{"pendulum":[0.1431763379174373,0,0.32338479133937126,0,0.16119274638826117,0,0.9869229445664994]},"metrics":{"angle_rad":0.32379816932693795}},{"t":5.875,"poses":{"pendulum":[0.15110183644758227,0,0.3261271003919122,0,0.1703822512662897,0,0.9853780434195959]},"metrics":{"angle_rad":0.3424351591917767}},{"t":5.9,"poses":{"pendulum":[0.15861447130245418,0,0.3288807182122351,0,0.17913594531104984,0,0.9838243304053405]},"metrics":{"angle_rad":0.36021623949541937}},{"t":5.925,"poses":{"pendulum":[0.16570033467505224,0,0.33161811811626485,0,0.18743330107375644,0,0.9822773323499807]},"metrics":{"angle_rad":0.3770969667973139}},{"t":5.95,"poses":{"pendulum":[0.17234725301615852,0,0.33431210701081965,0,0.1952551237364981,0,0.980752484908728]},"metrics":{"angle_rad":0.39303514807051965}},{"t":5.975,"poses":{"pendulum":[0.17854469084817193,0,0.3369360904533891,0,0.20258356424884455,0,0.9792649792044206]},"metrics":{"angle_rad":0.4079909461622968}},{"t":6.0,"poses":{"pendulum":[0.1842836393071245,0,0.33946432519971953,0,0.2094021256384724,0,0.977829611833314]},"metrics":{"angle_rad":0.42192697936624607}}],"physicalValidation":false}