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Gaussian, arc-length resampling, uniform inward contraction for ON","phase":"shared normalized roll/pitch polar angle, bottom/right/top/left aligned","sigma_fraction":0.011666666666666667,"warmup_cycles":3},"scope":"Boundary visualization: OFF follows independent MJCF joint limits (rectangle with rounded corners); ON follows the smoothed existing reach-table boundary. Different commands, same period/model/gains, DIP equality enabled. Not a same-input ablation or newly measured hardware trajectory. Body/tip poses are recorded mj_step outputs, not post-smoothed."}