{
  "status": "needs_refinement",
  "source": "/home/d079/Software/A3-serve-planner-tracker/outputs/wang_chuqin_recovery_preview/motion.npz",
  "transformation": {
    "yaw_deg": 11.250385235418594,
    "requested_initial_root_xy_m": [
      -1.9874000921617028,
      0.5705081987025277
    ],
    "backward_clearance_m": 0.16,
    "actual_initial_root_xyz_m": [
      -2.147400092161703,
      0.5705081987025277,
      0.9447967352124665
    ],
    "final_root_xyz_m": [
      -2.0935568210713553,
      0.42992351462921274,
      0.8923877265385883
    ],
    "heading_body": "torso_Link",
    "final_heading_deg": 0.0,
    "heading_definition": "table +X long axis"
  },
  "joint_trajectory_identical": true,
  "time_identical": true,
  "root_height_identical": true,
  "table_check": {
    "sample_dt_s": 0.001,
    "checked_samples": 6201,
    "maximum_penetration_m": 0.0
  },
  "export": {
    "frames": 311,
    "duration_s": 6.2,
    "joint_count": 31,
    "body_count": 36,
    "max_joint_limit_excess_rad": 1.1102230246251565e-16,
    "max_joint_speed_rad_s": 13.96928107073185,
    "interpretation": "kinematic reference; physical tracking and ball outcome not evaluated"
  },
  "review": {
    "status": "needs_refinement",
    "reasons": [
      "interpolated_geometry_penetration_over_1mm",
      "interpolated_joint_velocity_excess"
    ],
    "checked_samples": 2202,
    "sample_dt_s": 0.001,
    "maximum_penetration_m": {
      "self": 0.0,
      "floor": 0.004250394690585411,
      "table": 0.0
    },
    "terminal_sole_gap_m": [
      0.002000001589310284,
      0.002000000931583897
    ],
    "joint_velocity_excess": {
      "left_shoulder_pitch_joint": {
        "peak_radps": 16.94662041160112,
        "limit_radps": 13.613568165555769
      },
      "left_shoulder_yaw_joint": {
        "peak_radps": 17.831497020092407,
        "limit_radps": 15.707963267948966
      },
      "left_wrist_yaw_joint": {
        "peak_radps": 14.631335050866412,
        "limit_radps": 12.775810124598491
      },
      "right_shoulder_pitch_joint": {
        "peak_radps": 17.24601919787275,
        "limit_radps": 13.613568165555769
      },
      "right_shoulder_yaw_joint": {
        "peak_radps": 17.50247904863559,
        "limit_radps": 15.707963267948966
      }
    },
    "terminal_heading": {
      "pelvis_link": {
        "yaw_deg": -11.153268715287481,
        "error_to_table_center_deg": 0.4514061273729809
      },
      "torso_Link": {
        "yaw_deg": -4.176954848207875e-15,
        "error_to_table_center_deg": 11.508826560540536
      }
    },
    "method": "FK samples of exported curve; no continuous guarantee or dynamics test"
  },
  "phases": {
    "phases": [
      {
        "name": "source_serve_recovery",
        "interval_s": [
          0.0,
          2.2
        ],
        "start_frames": 110,
        "start_probability": 1.0
      },
      {
        "name": "terminal_hold",
        "interval_s": [
          2.2,
          6.2
        ],
        "start_frames": 200,
        "start_probability": 0.0
      }
    ],
    "source_end_s": 6.2,
    "execution_end_s": 6.2,
    "execution_frames": 311,
    "excluded_tail_s": 0.0,
    "interpretation": "reference phases and reset sampling; not ball events or learned recovery"
  },
  "recording": {
    "status": "completed",
    "source_bank": "/home/d079/Software/A3-serve-planner-tracker/outputs/wang_chuqin_recovery_at_table/reference_bank.json",
    "videos": [
      {
        "index": 0,
        "path": "/home/d079/Software/A3-serve-planner-tracker/outputs/wang_chuqin_recovery_at_table/video/reference_00.mp4",
        "frames": 311,
        "fps": 50.0,
        "reference_duration_s": 6.2,
        "speed": 1.0,
        "upper_amplitude": 1.0
      }
    ],
    "overview": null,
    "interpretation": "kinematic references with table; NOT dynamic tracker performance or ball success. Overview freezes finished shorter clips.",
    "optimization_executed": false,
    "training_started": false
  },
  "total_elapsed_s": 6.490965283999685,
  "source_modified": false,
  "reconstruction_repeated": false,
  "retarget_repeated": false,
  "training_started": false,
  "ball_outcome_revalidated": false,
  "dynamic_stability_evaluated": false,
  "interpretation": "Rigid placement of the reviewed motion only; pre-existing curve issues remain"
}