{
  "schema": "NEXT11_V423C_R4_TOE_WALK_SOURCE_FOOT_PITCH_BUILD_REPORT_V1",
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          {
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              "L_Calf",
              "L_Foot"
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          },
          {
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              "R_Foot"
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          },
          {
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              "L_Forearm",
              "L_Hand"
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          {
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              "R_Hand"
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          {
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              "Spine02"
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          },
          {
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              "L_Foot"
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          },
          {
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              "L_Foot"
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          },
          {
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          {
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          {
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              "L_Hand"
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          },
          {
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          {
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          },
          {
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          },
          {
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            {
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          {
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          {
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            {
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            {
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            {
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            },
            {
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                "L_Hand"
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            },
            {
              "set": "target",
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            {
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            },
            {
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                "L_Hand"
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          ]
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          },
          {
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          },
          {
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          },
          {
            "set": "target",
            "constraint": "Torso_PelvisSpineContinuity",
            "type": "angle_range",
            "actual": 177.94,
            "minDeg": 0,
            "maxDeg": 180,
            "pass": true,
            "joints": [
              "Pelvis",
              "Waist",
              "Spine02"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Knee_SourceShapePoleDiagnostic",
            "type": "raw_shape_pole_diagnostic",
            "cos": 0.9993,
            "reference": "body_forward_only_diagnostic",
            "pass": true,
            "joints": [
              "L_Thigh",
              "L_Calf",
              "L_Foot"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Knee_PoleComfort",
            "type": "soft_joint_comfort",
            "cos": 0.9993,
            "comfort01": 1,
            "pass": true,
            "joints": [
              "L_Thigh",
              "L_Calf",
              "L_Foot"
            ]
          },
          {
            "set": "target",
            "constraint": "R_Knee_SourceShapePoleDiagnostic",
            "type": "raw_shape_pole_diagnostic",
            "cos": 0.9999,
            "reference": "body_forward_only_diagnostic",
            "pass": true,
            "joints": [
              "R_Thigh",
              "R_Calf",
              "R_Foot"
            ]
          },
          {
            "set": "target",
            "constraint": "R_Knee_PoleComfort",
            "type": "soft_joint_comfort",
            "cos": 0.9999,
            "comfort01": 1,
            "pass": true,
            "joints": [
              "R_Thigh",
              "R_Calf",
              "R_Foot"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Elbow_NoReversePole",
            "type": "side_half_plane",
            "cos": 0.9945,
            "minCos": -0.3,
            "pass": true,
            "joints": [
              "L_Upperarm",
              "L_Forearm",
              "L_Hand"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Elbow_OutwardComfort",
            "type": "soft_joint_comfort",
            "cos": 0.9945,
            "comfort01": 1,
            "pass": true,
            "joints": [
              "L_Upperarm",
              "L_Forearm",
              "L_Hand"
            ]
          },
          {
            "set": "target",
            "constraint": "R_Elbow_NoReversePole",
            "type": "side_half_plane",
            "cos": 0.9946,
            "minCos": -0.3,
            "pass": true,
            "joints": [
              "R_Upperarm",
              "R_Forearm",
              "R_Hand"
            ]
          },
          {
            "set": "target",
            "constraint": "R_Elbow_OutwardComfort",
            "type": "soft_joint_comfort",
            "cos": 0.9946,
            "comfort01": 1,
            "pass": true,
            "joints": [
              "R_Upperarm",
              "R_Forearm",
              "R_Hand"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Foot_InternalAnkleToePitch",
            "type": "foot_internal_ankle_to_toebase_pitch",
            "measurementGeometry": "Foot->ToeBase IK anchors; NOT visible sole",
            "pitchDeg": 36,
            "maxPitchDeg": 38,
            "forwardCos": 1,
            "minForwardCos": 0.05,
            "activeSupport": false,
            "forefootToeSupport": false,
            "pass": true,
            "joints": [
              "L_Foot",
              "L_ToeBase"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Foot_ContactFrameComfort",
            "type": "soft_contact_frame",
            "measurementGeometry": "Foot->ToeBase internal IK anchors",
            "activeSupport": false,
            "forefootToeSupport": false,
            "pitchDeg": 36,
            "forwardCos": 1,
            "comfort01": 1,
            "pass": true,
            "joints": [
              "L_Foot",
              "L_ToeBase"
            ]
          },
          {
            "set": "target",
            "constraint": "R_Foot_InternalAnkleToePitch",
            "type": "foot_internal_ankle_to_toebase_pitch",
            "measurementGeometry": "Foot->ToeBase IK anchors; NOT visible sole",
            "pitchDeg": 50,
            "maxPitchDeg": 88,
            "forwardCos": 1,
            "minForwardCos": 0.05,
            "activeSupport": true,
            "forefootToeSupport": true,
            "pass": true,
            "joints": [
              "R_Foot",
              "R_ToeBase"
            ]
          }
        ],
        "failures": [],
        "comfort": {
          "count": 24,
          "avg": 1,
          "worst": [
            {
              "set": "target",
              "constraint": "L_Knee_PoleComfort",
              "type": "soft_joint_comfort",
              "cos": 0.9993,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "L_Thigh",
                "L_Calf",
                "L_Foot"
              ]
            },
            {
              "set": "target",
              "constraint": "R_Knee_PoleComfort",
              "type": "soft_joint_comfort",
              "cos": 0.9999,
              "comfort01": 1,
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              "joints": [
                "R_Thigh",
                "R_Calf",
                "R_Foot"
              ]
            },
            {
              "set": "target",
              "constraint": "L_Elbow_OutwardComfort",
              "type": "soft_joint_comfort",
              "cos": 0.9945,
              "comfort01": 1,
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              "joints": [
                "L_Upperarm",
                "L_Forearm",
                "L_Hand"
              ]
            },
            {
              "set": "target",
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              "type": "soft_joint_comfort",
              "cos": 0.9946,
              "comfort01": 1,
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              "joints": [
                "R_Upperarm",
                "R_Forearm",
                "R_Hand"
              ]
            },
            {
              "set": "target",
              "constraint": "L_Foot_ContactFrameComfort",
              "type": "soft_contact_frame",
              "measurementGeometry": "Foot->ToeBase internal IK anchors",
              "activeSupport": false,
              "forefootToeSupport": false,
              "pitchDeg": 36,
              "forwardCos": 1,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "L_Foot",
                "L_ToeBase"
              ]
            },
            {
              "set": "target",
              "constraint": "R_Foot_ContactFrameComfort",
              "type": "soft_contact_frame",
              "measurementGeometry": "Foot->ToeBase internal IK anchors",
              "activeSupport": true,
              "forefootToeSupport": true,
              "pitchDeg": 50,
              "forwardCos": 1,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "R_Foot",
                "R_ToeBase"
              ]
            },
            {
              "set": "target",
              "constraint": "L_Wrist_Comfort",
              "type": "soft_joint_comfort",
              "activeSupport": false,
              "deltaDeg": 14.92,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "L_Upperarm",
                "L_Forearm",
                "L_Hand"
              ]
            },
            {
              "set": "target",
              "constraint": "R_Wrist_Comfort",
              "type": "soft_joint_comfort",
              "activeSupport": false,
              "deltaDeg": 14.92,
              "comfort01": 1,
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              "joints": [
                "R_Upperarm",
                "R_Forearm",
                "R_Hand"
              ]
            },
            {
              "set": "target",
              "constraint": "L_Shoulder_Comfort",
              "type": "soft_joint_comfort",
              "actual": 90,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "L_Clavicle",
                "L_Upperarm",
                "L_Forearm"
              ]
            },
            {
              "set": "target",
              "constraint": "L_Shoulder_HandReachCone",
              "type": "soft_reach_cone",
              "deltaDeg": 132.04,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "Spine02",
                "L_Upperarm",
                "L_Hand"
              ]
            }
          ]
        }
      }
    },
    {
      "id": "left_late_swing_right_trailing",
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        "schema": "NEX_BIOMECH_CONSTRAINT_GATE_V28_ATLAS_V2_CONTACT_FRAMES",
        "policy": "generic hard biomechanical limits remain solve/readback constraints; V36 target normalizer is strict IK landmark retarget with Nex lengths only and performs no shoulder/knee/endpoint solve",
        "atlas": {
          "schema": "NEX_BIOMECH_ATLAS_V36_AUDIT_ONLY_NO_TARGET_REWRITE",
          "version": "V36",
          "policy": "no CCD, no two-bone solve, no toe projection, no shoulder/clavicle solver in target normalisation; biomechanical constraints belong to Nex actual solve/readback gates",
          "activeSupportGroups": [
            "leftFoot",
            "rightFoot"
          ],
          "correctionCount": 0,
          "corrections": [],
          "noTargetRewrite": true
        },
        "count": 66,
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        "worst": [
          {
            "set": "target",
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            "maxDeg": 178.5,
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              "L_Thigh",
              "L_Calf",
              "L_Foot"
            ]
          },
          {
            "set": "target",
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            "maxDeg": 178.5,
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              "R_Thigh",
              "R_Calf",
              "R_Foot"
            ]
          },
          {
            "set": "target",
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            "maxDeg": 180.01,
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              "L_Upperarm",
              "L_Forearm",
              "L_Hand"
            ]
          },
          {
            "set": "target",
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            "maxDeg": 180.01,
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              "R_Upperarm",
              "R_Forearm",
              "R_Hand"
            ]
          },
          {
            "set": "target",
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            "minDeg": 0,
            "maxDeg": 180,
            "pass": true,
            "joints": [
              "Pelvis",
              "Waist",
              "Spine02"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Knee_SourceShapePoleDiagnostic",
            "type": "raw_shape_pole_diagnostic",
            "cos": 0.999,
            "reference": "body_forward_only_diagnostic",
            "pass": true,
            "joints": [
              "L_Thigh",
              "L_Calf",
              "L_Foot"
            ]
          },
          {
            "set": "target",
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            "type": "soft_joint_comfort",
            "cos": 0.999,
            "comfort01": 1,
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            "joints": [
              "L_Thigh",
              "L_Calf",
              "L_Foot"
            ]
          },
          {
            "set": "target",
            "constraint": "R_Knee_SourceShapePoleDiagnostic",
            "type": "raw_shape_pole_diagnostic",
            "cos": 0.9999,
            "reference": "body_forward_only_diagnostic",
            "pass": true,
            "joints": [
              "R_Thigh",
              "R_Calf",
              "R_Foot"
            ]
          },
          {
            "set": "target",
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            "type": "soft_joint_comfort",
            "cos": 0.9999,
            "comfort01": 1,
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            "joints": [
              "R_Thigh",
              "R_Calf",
              "R_Foot"
            ]
          },
          {
            "set": "target",
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            "type": "side_half_plane",
            "cos": 0.9918,
            "minCos": -0.3,
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            "joints": [
              "L_Upperarm",
              "L_Forearm",
              "L_Hand"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Elbow_OutwardComfort",
            "type": "soft_joint_comfort",
            "cos": 0.9918,
            "comfort01": 1,
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            "joints": [
              "L_Upperarm",
              "L_Forearm",
              "L_Hand"
            ]
          },
          {
            "set": "target",
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            "type": "side_half_plane",
            "cos": 0.9919,
            "minCos": -0.3,
            "pass": true,
            "joints": [
              "R_Upperarm",
              "R_Forearm",
              "R_Hand"
            ]
          },
          {
            "set": "target",
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            "type": "soft_joint_comfort",
            "cos": 0.9919,
            "comfort01": 1,
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            "joints": [
              "R_Upperarm",
              "R_Forearm",
              "R_Hand"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Foot_InternalAnkleToePitch",
            "type": "foot_internal_ankle_to_toebase_pitch",
            "measurementGeometry": "Foot->ToeBase IK anchors; NOT visible sole",
            "pitchDeg": 37.5,
            "maxPitchDeg": 38,
            "forwardCos": 1,
            "minForwardCos": 0.05,
            "activeSupport": false,
            "forefootToeSupport": false,
            "pass": true,
            "joints": [
              "L_Foot",
              "L_ToeBase"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Foot_ContactFrameComfort",
            "type": "soft_contact_frame",
            "measurementGeometry": "Foot->ToeBase internal IK anchors",
            "activeSupport": false,
            "forefootToeSupport": false,
            "pitchDeg": 37.5,
            "forwardCos": 1,
            "comfort01": 1,
            "pass": true,
            "joints": [
              "L_Foot",
              "L_ToeBase"
            ]
          },
          {
            "set": "target",
            "constraint": "R_Foot_InternalAnkleToePitch",
            "type": "foot_internal_ankle_to_toebase_pitch",
            "measurementGeometry": "Foot->ToeBase IK anchors; NOT visible sole",
            "pitchDeg": 50,
            "maxPitchDeg": 88,
            "forwardCos": 1,
            "minForwardCos": 0.05,
            "activeSupport": true,
            "forefootToeSupport": true,
            "pass": true,
            "joints": [
              "R_Foot",
              "R_ToeBase"
            ]
          }
        ],
        "failures": [],
        "comfort": {
          "count": 24,
          "avg": 1,
          "worst": [
            {
              "set": "target",
              "constraint": "L_Knee_PoleComfort",
              "type": "soft_joint_comfort",
              "cos": 0.999,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "L_Thigh",
                "L_Calf",
                "L_Foot"
              ]
            },
            {
              "set": "target",
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              "type": "soft_joint_comfort",
              "cos": 0.9999,
              "comfort01": 1,
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              "joints": [
                "R_Thigh",
                "R_Calf",
                "R_Foot"
              ]
            },
            {
              "set": "target",
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              "cos": 0.9918,
              "comfort01": 1,
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              "joints": [
                "L_Upperarm",
                "L_Forearm",
                "L_Hand"
              ]
            },
            {
              "set": "target",
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              "type": "soft_joint_comfort",
              "cos": 0.9919,
              "comfort01": 1,
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              "joints": [
                "R_Upperarm",
                "R_Forearm",
                "R_Hand"
              ]
            },
            {
              "set": "target",
              "constraint": "L_Foot_ContactFrameComfort",
              "type": "soft_contact_frame",
              "measurementGeometry": "Foot->ToeBase internal IK anchors",
              "activeSupport": false,
              "forefootToeSupport": false,
              "pitchDeg": 37.5,
              "forwardCos": 1,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "L_Foot",
                "L_ToeBase"
              ]
            },
            {
              "set": "target",
              "constraint": "R_Foot_ContactFrameComfort",
              "type": "soft_contact_frame",
              "measurementGeometry": "Foot->ToeBase internal IK anchors",
              "activeSupport": true,
              "forefootToeSupport": true,
              "pitchDeg": 50,
              "forwardCos": 1,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "R_Foot",
                "R_ToeBase"
              ]
            },
            {
              "set": "target",
              "constraint": "L_Wrist_Comfort",
              "type": "soft_joint_comfort",
              "activeSupport": false,
              "deltaDeg": 14.9,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "L_Upperarm",
                "L_Forearm",
                "L_Hand"
              ]
            },
            {
              "set": "target",
              "constraint": "R_Wrist_Comfort",
              "type": "soft_joint_comfort",
              "activeSupport": false,
              "deltaDeg": 14.9,
              "comfort01": 1,
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              "joints": [
                "R_Upperarm",
                "R_Forearm",
                "R_Hand"
              ]
            },
            {
              "set": "target",
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              "type": "soft_joint_comfort",
              "actual": 90,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "L_Clavicle",
                "L_Upperarm",
                "L_Forearm"
              ]
            },
            {
              "set": "target",
              "constraint": "L_Shoulder_HandReachCone",
              "type": "soft_reach_cone",
              "deltaDeg": 132.87,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "Spine02",
                "L_Upperarm",
                "L_Hand"
              ]
            }
          ]
        }
      }
    },
    {
      "id": "left_forefoot_strike_right_trailing",
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        "policy": "generic hard biomechanical limits remain solve/readback constraints; V36 target normalizer is strict IK landmark retarget with Nex lengths only and performs no shoulder/knee/endpoint solve",
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          "policy": "no CCD, no two-bone solve, no toe projection, no shoulder/clavicle solver in target normalisation; biomechanical constraints belong to Nex actual solve/readback gates",
          "activeSupportGroups": [
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            "rightFoot"
          ],
          "correctionCount": 0,
          "corrections": [],
          "noTargetRewrite": true
        },
        "count": 66,
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        "worst": [
          {
            "set": "target",
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              "L_Thigh",
              "L_Calf",
              "L_Foot"
            ]
          },
          {
            "set": "target",
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              "R_Calf",
              "R_Foot"
            ]
          },
          {
            "set": "target",
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              "L_Forearm",
              "L_Hand"
            ]
          },
          {
            "set": "target",
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              "R_Upperarm",
              "R_Forearm",
              "R_Hand"
            ]
          },
          {
            "set": "target",
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            "minDeg": 0,
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            "pass": true,
            "joints": [
              "Pelvis",
              "Waist",
              "Spine02"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Knee_SourceShapePoleDiagnostic",
            "type": "raw_shape_pole_diagnostic",
            "cos": 0.9999,
            "reference": "body_forward_only_diagnostic",
            "pass": true,
            "joints": [
              "L_Thigh",
              "L_Calf",
              "L_Foot"
            ]
          },
          {
            "set": "target",
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            "type": "soft_joint_comfort",
            "cos": 0.9999,
            "comfort01": 1,
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            "joints": [
              "L_Thigh",
              "L_Calf",
              "L_Foot"
            ]
          },
          {
            "set": "target",
            "constraint": "R_Knee_SourceShapePoleDiagnostic",
            "type": "raw_shape_pole_diagnostic",
            "cos": 0.9999,
            "reference": "body_forward_only_diagnostic",
            "pass": true,
            "joints": [
              "R_Thigh",
              "R_Calf",
              "R_Foot"
            ]
          },
          {
            "set": "target",
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            "type": "soft_joint_comfort",
            "cos": 0.9999,
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            "joints": [
              "R_Thigh",
              "R_Calf",
              "R_Foot"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Elbow_NoReversePole",
            "type": "side_half_plane",
            "cos": 0.976,
            "minCos": -0.3,
            "pass": true,
            "joints": [
              "L_Upperarm",
              "L_Forearm",
              "L_Hand"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Elbow_OutwardComfort",
            "type": "soft_joint_comfort",
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            "comfort01": 1,
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            "joints": [
              "L_Upperarm",
              "L_Forearm",
              "L_Hand"
            ]
          },
          {
            "set": "target",
            "constraint": "R_Elbow_NoReversePole",
            "type": "side_half_plane",
            "cos": 0.9761,
            "minCos": -0.3,
            "pass": true,
            "joints": [
              "R_Upperarm",
              "R_Forearm",
              "R_Hand"
            ]
          },
          {
            "set": "target",
            "constraint": "R_Elbow_OutwardComfort",
            "type": "soft_joint_comfort",
            "cos": 0.9761,
            "comfort01": 1,
            "pass": true,
            "joints": [
              "R_Upperarm",
              "R_Forearm",
              "R_Hand"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Foot_InternalAnkleToePitch",
            "type": "foot_internal_ankle_to_toebase_pitch",
            "measurementGeometry": "Foot->ToeBase IK anchors; NOT visible sole",
            "pitchDeg": 50,
            "maxPitchDeg": 88,
            "forwardCos": 1,
            "minForwardCos": 0.05,
            "activeSupport": true,
            "forefootToeSupport": true,
            "pass": true,
            "joints": [
              "L_Foot",
              "L_ToeBase"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Foot_ContactFrameComfort",
            "type": "soft_contact_frame",
            "measurementGeometry": "Foot->ToeBase internal IK anchors",
            "activeSupport": true,
            "forefootToeSupport": true,
            "pitchDeg": 50,
            "forwardCos": 1,
            "comfort01": 1,
            "pass": true,
            "joints": [
              "L_Foot",
              "L_ToeBase"
            ]
          },
          {
            "set": "target",
            "constraint": "R_Foot_InternalAnkleToePitch",
            "type": "foot_internal_ankle_to_toebase_pitch",
            "measurementGeometry": "Foot->ToeBase IK anchors; NOT visible sole",
            "pitchDeg": 50,
            "maxPitchDeg": 88,
            "forwardCos": 1,
            "minForwardCos": 0.05,
            "activeSupport": true,
            "forefootToeSupport": true,
            "pass": true,
            "joints": [
              "R_Foot",
              "R_ToeBase"
            ]
          }
        ],
        "failures": [],
        "comfort": {
          "count": 24,
          "avg": 1,
          "worst": [
            {
              "set": "target",
              "constraint": "L_Knee_PoleComfort",
              "type": "soft_joint_comfort",
              "cos": 0.9999,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "L_Thigh",
                "L_Calf",
                "L_Foot"
              ]
            },
            {
              "set": "target",
              "constraint": "R_Knee_PoleComfort",
              "type": "soft_joint_comfort",
              "cos": 0.9999,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "R_Thigh",
                "R_Calf",
                "R_Foot"
              ]
            },
            {
              "set": "target",
              "constraint": "L_Elbow_OutwardComfort",
              "type": "soft_joint_comfort",
              "cos": 0.976,
              "comfort01": 1,
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              "joints": [
                "L_Upperarm",
                "L_Forearm",
                "L_Hand"
              ]
            },
            {
              "set": "target",
              "constraint": "R_Elbow_OutwardComfort",
              "type": "soft_joint_comfort",
              "cos": 0.9761,
              "comfort01": 1,
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              "joints": [
                "R_Upperarm",
                "R_Forearm",
                "R_Hand"
              ]
            },
            {
              "set": "target",
              "constraint": "L_Foot_ContactFrameComfort",
              "type": "soft_contact_frame",
              "measurementGeometry": "Foot->ToeBase internal IK anchors",
              "activeSupport": true,
              "forefootToeSupport": true,
              "pitchDeg": 50,
              "forwardCos": 1,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "L_Foot",
                "L_ToeBase"
              ]
            },
            {
              "set": "target",
              "constraint": "R_Foot_ContactFrameComfort",
              "type": "soft_contact_frame",
              "measurementGeometry": "Foot->ToeBase internal IK anchors",
              "activeSupport": true,
              "forefootToeSupport": true,
              "pitchDeg": 50,
              "forwardCos": 1,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "R_Foot",
                "R_ToeBase"
              ]
            },
            {
              "set": "target",
              "constraint": "L_Wrist_Comfort",
              "type": "soft_joint_comfort",
              "activeSupport": false,
              "deltaDeg": 14.87,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "L_Upperarm",
                "L_Forearm",
                "L_Hand"
              ]
            },
            {
              "set": "target",
              "constraint": "R_Wrist_Comfort",
              "type": "soft_joint_comfort",
              "activeSupport": false,
              "deltaDeg": 14.87,
              "comfort01": 1,
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              "joints": [
                "R_Upperarm",
                "R_Forearm",
                "R_Hand"
              ]
            },
            {
              "set": "target",
              "constraint": "L_Shoulder_Comfort",
              "type": "soft_joint_comfort",
              "actual": 90,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "L_Clavicle",
                "L_Upperarm",
                "L_Forearm"
              ]
            },
            {
              "set": "target",
              "constraint": "L_Shoulder_HandReachCone",
              "type": "soft_reach_cone",
              "deltaDeg": 133.02,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "Spine02",
                "L_Upperarm",
                "L_Hand"
              ]
            }
          ]
        }
      }
    },
    {
      "id": "right_release_left_early_support",
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        "schema": "NEX_BIOMECH_CONSTRAINT_GATE_V28_ATLAS_V2_CONTACT_FRAMES",
        "policy": "generic hard biomechanical limits remain solve/readback constraints; V36 target normalizer is strict IK landmark retarget with Nex lengths only and performs no shoulder/knee/endpoint solve",
        "atlas": {
          "schema": "NEX_BIOMECH_ATLAS_V36_AUDIT_ONLY_NO_TARGET_REWRITE",
          "version": "V36",
          "policy": "no CCD, no two-bone solve, no toe projection, no shoulder/clavicle solver in target normalisation; biomechanical constraints belong to Nex actual solve/readback gates",
          "activeSupportGroups": [
            "leftFoot",
            "rightFoot"
          ],
          "correctionCount": 0,
          "corrections": [],
          "noTargetRewrite": true
        },
        "count": 66,
        "pass": true,
        "failCount": 0,
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          {
            "set": "target",
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            "minDeg": 25,
            "maxDeg": 178.5,
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            "joints": [
              "L_Thigh",
              "L_Calf",
              "L_Foot"
            ]
          },
          {
            "set": "target",
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            "type": "angle_range",
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            "maxDeg": 178.5,
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              "R_Thigh",
              "R_Calf",
              "R_Foot"
            ]
          },
          {
            "set": "target",
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            "type": "angle_range",
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            "minDeg": 12,
            "maxDeg": 180.01,
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              "L_Upperarm",
              "L_Forearm",
              "L_Hand"
            ]
          },
          {
            "set": "target",
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            "maxDeg": 180.01,
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              "R_Upperarm",
              "R_Forearm",
              "R_Hand"
            ]
          },
          {
            "set": "target",
            "constraint": "Torso_PelvisSpineContinuity",
            "type": "angle_range",
            "actual": 177.94,
            "minDeg": 0,
            "maxDeg": 180,
            "pass": true,
            "joints": [
              "Pelvis",
              "Waist",
              "Spine02"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Knee_SourceShapePoleDiagnostic",
            "type": "raw_shape_pole_diagnostic",
            "cos": 0.9999,
            "reference": "body_forward_only_diagnostic",
            "pass": true,
            "joints": [
              "L_Thigh",
              "L_Calf",
              "L_Foot"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Knee_PoleComfort",
            "type": "soft_joint_comfort",
            "cos": 0.9999,
            "comfort01": 1,
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            "joints": [
              "L_Thigh",
              "L_Calf",
              "L_Foot"
            ]
          },
          {
            "set": "target",
            "constraint": "R_Knee_SourceShapePoleDiagnostic",
            "type": "raw_shape_pole_diagnostic",
            "cos": 0.9993,
            "reference": "body_forward_only_diagnostic",
            "pass": true,
            "joints": [
              "R_Thigh",
              "R_Calf",
              "R_Foot"
            ]
          },
          {
            "set": "target",
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            "type": "soft_joint_comfort",
            "cos": 0.9993,
            "comfort01": 1,
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            "joints": [
              "R_Thigh",
              "R_Calf",
              "R_Foot"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Elbow_NoReversePole",
            "type": "side_half_plane",
            "cos": 0.9941,
            "minCos": -0.3,
            "pass": true,
            "joints": [
              "L_Upperarm",
              "L_Forearm",
              "L_Hand"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Elbow_OutwardComfort",
            "type": "soft_joint_comfort",
            "cos": 0.9941,
            "comfort01": 1,
            "pass": true,
            "joints": [
              "L_Upperarm",
              "L_Forearm",
              "L_Hand"
            ]
          },
          {
            "set": "target",
            "constraint": "R_Elbow_NoReversePole",
            "type": "side_half_plane",
            "cos": 0.9942,
            "minCos": -0.3,
            "pass": true,
            "joints": [
              "R_Upperarm",
              "R_Forearm",
              "R_Hand"
            ]
          },
          {
            "set": "target",
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            "type": "soft_joint_comfort",
            "cos": 0.9942,
            "comfort01": 1,
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            "joints": [
              "R_Upperarm",
              "R_Forearm",
              "R_Hand"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Foot_InternalAnkleToePitch",
            "type": "foot_internal_ankle_to_toebase_pitch",
            "measurementGeometry": "Foot->ToeBase IK anchors; NOT visible sole",
            "pitchDeg": 50,
            "maxPitchDeg": 88,
            "forwardCos": 1,
            "minForwardCos": 0.05,
            "activeSupport": true,
            "forefootToeSupport": true,
            "pass": true,
            "joints": [
              "L_Foot",
              "L_ToeBase"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Foot_ContactFrameComfort",
            "type": "soft_contact_frame",
            "measurementGeometry": "Foot->ToeBase internal IK anchors",
            "activeSupport": true,
            "forefootToeSupport": true,
            "pitchDeg": 50,
            "forwardCos": 1,
            "comfort01": 1,
            "pass": true,
            "joints": [
              "L_Foot",
              "L_ToeBase"
            ]
          },
          {
            "set": "target",
            "constraint": "R_Foot_InternalAnkleToePitch",
            "type": "foot_internal_ankle_to_toebase_pitch",
            "measurementGeometry": "Foot->ToeBase IK anchors; NOT visible sole",
            "pitchDeg": 37.5,
            "maxPitchDeg": 38,
            "forwardCos": 1,
            "minForwardCos": 0.05,
            "activeSupport": false,
            "forefootToeSupport": false,
            "pass": true,
            "joints": [
              "R_Foot",
              "R_ToeBase"
            ]
          }
        ],
        "failures": [],
        "comfort": {
          "count": 24,
          "avg": 1,
          "worst": [
            {
              "set": "target",
              "constraint": "L_Knee_PoleComfort",
              "type": "soft_joint_comfort",
              "cos": 0.9999,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "L_Thigh",
                "L_Calf",
                "L_Foot"
              ]
            },
            {
              "set": "target",
              "constraint": "R_Knee_PoleComfort",
              "type": "soft_joint_comfort",
              "cos": 0.9993,
              "comfort01": 1,
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              "joints": [
                "R_Thigh",
                "R_Calf",
                "R_Foot"
              ]
            },
            {
              "set": "target",
              "constraint": "L_Elbow_OutwardComfort",
              "type": "soft_joint_comfort",
              "cos": 0.9941,
              "comfort01": 1,
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              "joints": [
                "L_Upperarm",
                "L_Forearm",
                "L_Hand"
              ]
            },
            {
              "set": "target",
              "constraint": "R_Elbow_OutwardComfort",
              "type": "soft_joint_comfort",
              "cos": 0.9942,
              "comfort01": 1,
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              "joints": [
                "R_Upperarm",
                "R_Forearm",
                "R_Hand"
              ]
            },
            {
              "set": "target",
              "constraint": "L_Foot_ContactFrameComfort",
              "type": "soft_contact_frame",
              "measurementGeometry": "Foot->ToeBase internal IK anchors",
              "activeSupport": true,
              "forefootToeSupport": true,
              "pitchDeg": 50,
              "forwardCos": 1,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "L_Foot",
                "L_ToeBase"
              ]
            },
            {
              "set": "target",
              "constraint": "R_Foot_ContactFrameComfort",
              "type": "soft_contact_frame",
              "measurementGeometry": "Foot->ToeBase internal IK anchors",
              "activeSupport": false,
              "forefootToeSupport": false,
              "pitchDeg": 37.5,
              "forwardCos": 1,
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              "pass": true,
              "joints": [
                "R_Foot",
                "R_ToeBase"
              ]
            },
            {
              "set": "target",
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              "type": "soft_joint_comfort",
              "activeSupport": false,
              "deltaDeg": 14.9,
              "comfort01": 1,
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              "joints": [
                "L_Upperarm",
                "L_Forearm",
                "L_Hand"
              ]
            },
            {
              "set": "target",
              "constraint": "R_Wrist_Comfort",
              "type": "soft_joint_comfort",
              "activeSupport": false,
              "deltaDeg": 14.9,
              "comfort01": 1,
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              "joints": [
                "R_Upperarm",
                "R_Forearm",
                "R_Hand"
              ]
            },
            {
              "set": "target",
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              "type": "soft_joint_comfort",
              "actual": 90,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "L_Clavicle",
                "L_Upperarm",
                "L_Forearm"
              ]
            },
            {
              "set": "target",
              "constraint": "L_Shoulder_HandReachCone",
              "type": "soft_reach_cone",
              "deltaDeg": 132.88,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "Spine02",
                "L_Upperarm",
                "L_Hand"
              ]
            }
          ]
        }
      }
    },
    {
      "id": "right_mid_swing_left_under_pelvis",
      "phase": 0.75,
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        "schema": "NEX_BIOMECH_CONSTRAINT_GATE_V28_ATLAS_V2_CONTACT_FRAMES",
        "policy": "generic hard biomechanical limits remain solve/readback constraints; V36 target normalizer is strict IK landmark retarget with Nex lengths only and performs no shoulder/knee/endpoint solve",
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          "schema": "NEX_BIOMECH_ATLAS_V36_AUDIT_ONLY_NO_TARGET_REWRITE",
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          "policy": "no CCD, no two-bone solve, no toe projection, no shoulder/clavicle solver in target normalisation; biomechanical constraints belong to Nex actual solve/readback gates",
          "activeSupportGroups": [
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            "rightFoot"
          ],
          "correctionCount": 0,
          "corrections": [],
          "noTargetRewrite": true
        },
        "count": 66,
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        "worst": [
          {
            "set": "target",
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            "maxDeg": 178.5,
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              "L_Thigh",
              "L_Calf",
              "L_Foot"
            ]
          },
          {
            "set": "target",
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            "maxDeg": 178.5,
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              "R_Thigh",
              "R_Calf",
              "R_Foot"
            ]
          },
          {
            "set": "target",
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            "maxDeg": 180.01,
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              "L_Upperarm",
              "L_Forearm",
              "L_Hand"
            ]
          },
          {
            "set": "target",
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            "pass": true,
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              "R_Upperarm",
              "R_Forearm",
              "R_Hand"
            ]
          },
          {
            "set": "target",
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            "pass": true,
            "joints": [
              "Pelvis",
              "Waist",
              "Spine02"
            ]
          },
          {
            "set": "target",
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            "type": "raw_shape_pole_diagnostic",
            "cos": 0.9999,
            "reference": "body_forward_only_diagnostic",
            "pass": true,
            "joints": [
              "L_Thigh",
              "L_Calf",
              "L_Foot"
            ]
          },
          {
            "set": "target",
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            "type": "soft_joint_comfort",
            "cos": 0.9999,
            "comfort01": 1,
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            "joints": [
              "L_Thigh",
              "L_Calf",
              "L_Foot"
            ]
          },
          {
            "set": "target",
            "constraint": "R_Knee_SourceShapePoleDiagnostic",
            "type": "raw_shape_pole_diagnostic",
            "cos": 0.9993,
            "reference": "body_forward_only_diagnostic",
            "pass": true,
            "joints": [
              "R_Thigh",
              "R_Calf",
              "R_Foot"
            ]
          },
          {
            "set": "target",
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            "type": "soft_joint_comfort",
            "cos": 0.9993,
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            "joints": [
              "R_Thigh",
              "R_Calf",
              "R_Foot"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Elbow_NoReversePole",
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            "cos": 0.9945,
            "minCos": -0.3,
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            "joints": [
              "L_Upperarm",
              "L_Forearm",
              "L_Hand"
            ]
          },
          {
            "set": "target",
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            "type": "soft_joint_comfort",
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            "comfort01": 1,
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            "joints": [
              "L_Upperarm",
              "L_Forearm",
              "L_Hand"
            ]
          },
          {
            "set": "target",
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            "cos": 0.9946,
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            "joints": [
              "R_Upperarm",
              "R_Forearm",
              "R_Hand"
            ]
          },
          {
            "set": "target",
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            "type": "soft_joint_comfort",
            "cos": 0.9946,
            "comfort01": 1,
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            "joints": [
              "R_Upperarm",
              "R_Forearm",
              "R_Hand"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Foot_InternalAnkleToePitch",
            "type": "foot_internal_ankle_to_toebase_pitch",
            "measurementGeometry": "Foot->ToeBase IK anchors; NOT visible sole",
            "pitchDeg": 50,
            "maxPitchDeg": 88,
            "forwardCos": 1,
            "minForwardCos": 0.05,
            "activeSupport": true,
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            "pass": true,
            "joints": [
              "L_Foot",
              "L_ToeBase"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Foot_ContactFrameComfort",
            "type": "soft_contact_frame",
            "measurementGeometry": "Foot->ToeBase internal IK anchors",
            "activeSupport": true,
            "forefootToeSupport": true,
            "pitchDeg": 50,
            "forwardCos": 1,
            "comfort01": 1,
            "pass": true,
            "joints": [
              "L_Foot",
              "L_ToeBase"
            ]
          },
          {
            "set": "target",
            "constraint": "R_Foot_InternalAnkleToePitch",
            "type": "foot_internal_ankle_to_toebase_pitch",
            "measurementGeometry": "Foot->ToeBase IK anchors; NOT visible sole",
            "pitchDeg": 36,
            "maxPitchDeg": 38,
            "forwardCos": 1,
            "minForwardCos": 0.05,
            "activeSupport": false,
            "forefootToeSupport": false,
            "pass": true,
            "joints": [
              "R_Foot",
              "R_ToeBase"
            ]
          }
        ],
        "failures": [],
        "comfort": {
          "count": 24,
          "avg": 1,
          "worst": [
            {
              "set": "target",
              "constraint": "L_Knee_PoleComfort",
              "type": "soft_joint_comfort",
              "cos": 0.9999,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "L_Thigh",
                "L_Calf",
                "L_Foot"
              ]
            },
            {
              "set": "target",
              "constraint": "R_Knee_PoleComfort",
              "type": "soft_joint_comfort",
              "cos": 0.9993,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "R_Thigh",
                "R_Calf",
                "R_Foot"
              ]
            },
            {
              "set": "target",
              "constraint": "L_Elbow_OutwardComfort",
              "type": "soft_joint_comfort",
              "cos": 0.9945,
              "comfort01": 1,
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              "joints": [
                "L_Upperarm",
                "L_Forearm",
                "L_Hand"
              ]
            },
            {
              "set": "target",
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              "type": "soft_joint_comfort",
              "cos": 0.9946,
              "comfort01": 1,
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              "joints": [
                "R_Upperarm",
                "R_Forearm",
                "R_Hand"
              ]
            },
            {
              "set": "target",
              "constraint": "L_Foot_ContactFrameComfort",
              "type": "soft_contact_frame",
              "measurementGeometry": "Foot->ToeBase internal IK anchors",
              "activeSupport": true,
              "forefootToeSupport": true,
              "pitchDeg": 50,
              "forwardCos": 1,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "L_Foot",
                "L_ToeBase"
              ]
            },
            {
              "set": "target",
              "constraint": "R_Foot_ContactFrameComfort",
              "type": "soft_contact_frame",
              "measurementGeometry": "Foot->ToeBase internal IK anchors",
              "activeSupport": false,
              "forefootToeSupport": false,
              "pitchDeg": 36,
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              "comfort01": 1,
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              "joints": [
                "R_Foot",
                "R_ToeBase"
              ]
            },
            {
              "set": "target",
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              "type": "soft_joint_comfort",
              "activeSupport": false,
              "deltaDeg": 14.92,
              "comfort01": 1,
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              "joints": [
                "L_Upperarm",
                "L_Forearm",
                "L_Hand"
              ]
            },
            {
              "set": "target",
              "constraint": "R_Wrist_Comfort",
              "type": "soft_joint_comfort",
              "activeSupport": false,
              "deltaDeg": 14.92,
              "comfort01": 1,
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              "joints": [
                "R_Upperarm",
                "R_Forearm",
                "R_Hand"
              ]
            },
            {
              "set": "target",
              "constraint": "L_Shoulder_Comfort",
              "type": "soft_joint_comfort",
              "actual": 90,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "L_Clavicle",
                "L_Upperarm",
                "L_Forearm"
              ]
            },
            {
              "set": "target",
              "constraint": "L_Shoulder_HandReachCone",
              "type": "soft_reach_cone",
              "deltaDeg": 132.38,
              "comfort01": 1,
              "pass": true,
              "joints": [
                "Spine02",
                "L_Upperarm",
                "L_Hand"
              ]
            }
          ]
        }
      }
    },
    {
      "id": "right_late_swing_left_trailing",
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      "pass": true,
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        "policy": "generic hard biomechanical limits remain solve/readback constraints; V36 target normalizer is strict IK landmark retarget with Nex lengths only and performs no shoulder/knee/endpoint solve",
        "atlas": {
          "schema": "NEX_BIOMECH_ATLAS_V36_AUDIT_ONLY_NO_TARGET_REWRITE",
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          "policy": "no CCD, no two-bone solve, no toe projection, no shoulder/clavicle solver in target normalisation; biomechanical constraints belong to Nex actual solve/readback gates",
          "activeSupportGroups": [
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            "rightFoot"
          ],
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          "corrections": [],
          "noTargetRewrite": true
        },
        "count": 66,
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          {
            "set": "target",
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              "L_Calf",
              "L_Foot"
            ]
          },
          {
            "set": "target",
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            "maxDeg": 178.5,
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              "R_Calf",
              "R_Foot"
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          },
          {
            "set": "target",
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              "L_Forearm",
              "L_Hand"
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          },
          {
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              "R_Hand"
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          },
          {
            "set": "target",
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            "pass": true,
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              "Pelvis",
              "Waist",
              "Spine02"
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          },
          {
            "set": "target",
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            "type": "raw_shape_pole_diagnostic",
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            "reference": "body_forward_only_diagnostic",
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            "joints": [
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              "L_Calf",
              "L_Foot"
            ]
          },
          {
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              "L_Thigh",
              "L_Calf",
              "L_Foot"
            ]
          },
          {
            "set": "target",
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            "type": "raw_shape_pole_diagnostic",
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            "reference": "body_forward_only_diagnostic",
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            "joints": [
              "R_Thigh",
              "R_Calf",
              "R_Foot"
            ]
          },
          {
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              "R_Calf",
              "R_Foot"
            ]
          },
          {
            "set": "target",
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              "L_Upperarm",
              "L_Forearm",
              "L_Hand"
            ]
          },
          {
            "set": "target",
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              "L_Forearm",
              "L_Hand"
            ]
          },
          {
            "set": "target",
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            "cos": 0.9919,
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              "R_Upperarm",
              "R_Forearm",
              "R_Hand"
            ]
          },
          {
            "set": "target",
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              "R_Upperarm",
              "R_Forearm",
              "R_Hand"
            ]
          },
          {
            "set": "target",
            "constraint": "L_Foot_InternalAnkleToePitch",
            "type": "foot_internal_ankle_to_toebase_pitch",
            "measurementGeometry": "Foot->ToeBase IK anchors; NOT visible sole",
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            "maxPitchDeg": 88,
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            "minForwardCos": 0.05,
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              "L_Foot",
              "L_ToeBase"
            ]
          },
          {
            "set": "target",
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            "type": "soft_contact_frame",
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            "joints": [
              "L_Foot",
              "L_ToeBase"
            ]
          },
          {
            "set": "target",
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            "type": "foot_internal_ankle_to_toebase_pitch",
            "measurementGeometry": "Foot->ToeBase IK anchors; NOT visible sole",
            "pitchDeg": 37.5,
            "maxPitchDeg": 38,
            "forwardCos": 1,
            "minForwardCos": 0.05,
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            "joints": [
              "R_Foot",
              "R_ToeBase"
            ]
          }
        ],
        "failures": [],
        "comfort": {
          "count": 24,
          "avg": 1,
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            {
              "set": "target",
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              "joints": [
                "L_Thigh",
                "L_Calf",
                "L_Foot"
              ]
            },
            {
              "set": "target",
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                "R_Foot"
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            },
            {
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                "L_Forearm",
                "L_Hand"
              ]
            },
            {
              "set": "target",
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            },
            {
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              "type": "soft_contact_frame",
              "measurementGeometry": "Foot->ToeBase internal IK anchors",
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                "L_Foot",
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              ]
            },
            {
              "set": "target",
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              "measurementGeometry": "Foot->ToeBase internal IK anchors",
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                "R_ToeBase"
              ]
            },
            {
              "set": "target",
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                "L_Forearm",
                "L_Hand"
              ]
            },
            {
              "set": "target",
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                "R_Forearm",
                "R_Hand"
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            },
            {
              "set": "target",
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                "L_Upperarm",
                "L_Forearm"
              ]
            },
            {
              "set": "target",
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                "L_Upperarm",
                "L_Hand"
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          ]
        }
      }
    },
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      "id": "loop_right_forefoot_strike_left_trailing",
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          {
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          {
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          },
          {
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          {
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          },
          {
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          },
          {
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              "L_Calf",
              "L_Foot"
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          },
          {
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              "L_Foot"
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          },
          {
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              "R_Calf",
              "R_Foot"
            ]
          },
          {
            "set": "target",
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              "R_Foot"
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          },
          {
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              "L_Forearm",
              "L_Hand"
            ]
          },
          {
            "set": "target",
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              "L_Forearm",
              "L_Hand"
            ]
          },
          {
            "set": "target",
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              "R_Forearm",
              "R_Hand"
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          },
          {
            "set": "target",
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              "R_Forearm",
              "R_Hand"
            ]
          },
          {
            "set": "target",
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            "type": "foot_internal_ankle_to_toebase_pitch",
            "measurementGeometry": "Foot->ToeBase IK anchors; NOT visible sole",
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              "L_ToeBase"
            ]
          },
          {
            "set": "target",
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            "joints": [
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              "L_ToeBase"
            ]
          },
          {
            "set": "target",
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              "R_ToeBase"
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          }
        ],
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        "comfort": {
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          "avg": 1,
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            {
              "set": "target",
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                "L_Calf",
                "L_Foot"
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            },
            {
              "set": "target",
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                "R_Foot"
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            },
            {
              "set": "target",
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                "L_Forearm",
                "L_Hand"
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            },
            {
              "set": "target",
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                "R_Forearm",
                "R_Hand"
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            },
            {
              "set": "target",
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              "type": "soft_contact_frame",
              "measurementGeometry": "Foot->ToeBase internal IK anchors",
              "activeSupport": true,
              "forefootToeSupport": true,
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              "comfort01": 1,
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              "joints": [
                "L_Foot",
                "L_ToeBase"
              ]
            },
            {
              "set": "target",
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              "measurementGeometry": "Foot->ToeBase internal IK anchors",
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              "forefootToeSupport": true,
              "pitchDeg": 50,
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              "comfort01": 1,
              "pass": true,
              "joints": [
                "R_Foot",
                "R_ToeBase"
              ]
            },
            {
              "set": "target",
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              "type": "soft_joint_comfort",
              "activeSupport": false,
              "deltaDeg": 14.87,
              "comfort01": 1,
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              "joints": [
                "L_Upperarm",
                "L_Forearm",
                "L_Hand"
              ]
            },
            {
              "set": "target",
              "constraint": "R_Wrist_Comfort",
              "type": "soft_joint_comfort",
              "activeSupport": false,
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              "comfort01": 1,
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              "joints": [
                "R_Upperarm",
                "R_Forearm",
                "R_Hand"
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