1{
  2  "math_check": {
  3    "max_relative_tangent_distance_error": 7.059746927111775e-16,
  4    "max_tangent_clearance_error": 2.220446049250313e-15
  5  },
  6  "branch_switch": {
  7    "predicted_heading_rad": 0.0,
  8    "observed_heading_rad": 0.0,
  9    "max_time_difference_at_switch": 0.0
 10  },
 11  "safety_sweep": {
 12    "residual_magnitudes": [
 13      0.1,
 14      0.8181818181818182,
 15      1.5363636363636366,
 16      2.254545454545455,
 17      2.972727272727273,
 18      3.6909090909090914,
 19      4.409090909090909,
 20      5.127272727272727,
 21      5.845454545454546,
 22      6.563636363636364,
 23      7.281818181818182,
 24      8.0
 25    ],
 26    "raw_min_clearance": [
 27      -0.199999999999956,
 28      -0.7981818181818247,
 29      -0.7986363636363669,
 30      -0.7967272727272707,
 31      -0.7958636363636379,
 32      -0.7965454545454557,
 33      -0.7920454545454554,
 34      -0.7998181818181825,
 35      -0.7937272727272734,
 36      -0.7845454545454551,
 37      -0.783045454545455,
 38      -0.7999999999999997
 39    ],
 40    "projected_min_clearance": [
 41      2.19824158875781e-14,
 42      0.0036363636363609952,
 43      0.00027272727272587005,
 44      0.008363636363635463,
 45      0.0067727272727265975,
 46      0.015454545454544943,
 47      0.0015909090909086432,
 48      0.0205454545454542,
 49      0.024636363636363345,
 50      0.003090909090908811,
 51      0.017954545454545223,
 52      0.039999999999999813
 53    ]
 54  },
 55  "speed_ratio_sweep": {
 56    "y_over_r": [
 57      0.0001,
 58      0.00011670827378333286,
 59      0.00013620821169485394,
 60      0.00015896625262021172,
 61      0.00018552676933110144,
 62      0.0002165250898923143,
 63      0.00025270269472113,
 64      0.0002949249528129962,
 65      0.0003442018213843572,
 66      0.00040171200406847394,
 67      0.0004688311455287478,
 68      0.0005471647369052272,
 69      0.0006385865191932056,
 70      0.0007452833031634624,
 71      0.0008698072779174805,
 72      0.001015137059299289,
 73      0.0011847489384430882,
 74      0.001382700034723289,
 75      0.0016137253421270963,
 76      0.0018833509904007182,
 77      0.0021980264301779814,
 78      0.002565278703962136,
 79      0.0029938924931256655,
 80      0.0034941202476557517,
 81      0.004077927424952943,
 82      0.0047592787037997,
 83      0.005554472019742416,
 84      0.006482528412019597,
 85      0.007565647007182171,
 86      0.008829736022622705,
 87      0.010305032491628072,
 88      0.01202682553379071,
 89      0.014036300471420245,
 90      0.01638152398323638,
 91      0.019118593860237867,
 92      0.022312980865929876,
 93      0.02604109479823214,
 94      0.030392112213298017,
 95      0.035470109530433634,
 96      0.041396552542026524,
 97      0.0483132018776096,
 98      0.05638550392081492,
 99      0.06580654829001656,
100      0.07680168654567375,
101      0.08963392260394204,
102      0.10461020379534947,
103      0.12208876305077891,
104      0.14248768783998772,
105      0.16629492083183353,
106      0.1940799314921929,
107      0.2265073378044136,
108      0.2643528039441136,
109      0.30852159418101355,
110      0.36007022681748047,
111      0.4202317461264131,
112      0.49044521679369446,
113      0.5723901463728454,
114      0.6680266591376407,
115      0.7796423822920094,
116      0.909907166056258,
117      1.0619369465351027,
118      1.2393682789685538,
119      1.446445324202402,
120      1.6881213690963541,
121      1.970177309239922,
122      2.2993599280848307,
123      2.6835432801334873,
124      3.1319170384724244,
125      3.655206311927251,
126      4.265928189869724,
127      4.9786911512335275,
128      5.8105444996081985,
129      6.781386182905131,
130      7.9144387526500175,
131      9.236804847856986,
132      10.780115490669104,
133      12.581286701009587,
134      14.6834025284803,
135      17.136745623647624,
136      20.0
137    ],
138    "observed_threshold_ve_over_vp": [
139      1.9999999933333332,
140      1.9999999909194526,
141      1.9999999876315488,
142      1.999999983153154,
143      1.9999999770532124,
144      1.9999999687445913,
145      1.9999999574275669,
146      1.9999999420128511,
147      1.999999921016743,
148      1.999999892418321,
149      1.999999853464924,
150      1.999999800407203,
151      1.9999997281382382,
152      1.9999996297019889,
153      1.999999495623762,
154      1.9999993129982587,
155      1.9999990642474232,
156      1.999998725428538,
157      1.999998263929726,
158      1.9999976353310638,
159      1.9999967791292115,
160      1.9999956129141025,
161      1.9999940244372965,
162      1.9999918608087521,
163      1.9999889137825593,
164      1.999984899716032,
165      1.999979432274455,
166      1.999971985256616,
167      1.9999618419673768,
168      1.9999480262724143,
169      1.9999292087140625,
170      1.9999035786796717,
171      1.9998686703702604,
172      1.9998211259147556,
173      1.9997563730073884,
174      1.999668186370801,
175      1.9995480914475456,
176      1.9993845540593966,
177      1.9991618801399293,
178      1.9988587235280115,
179      1.9984460653873455,
180      1.997884484048837,
181      1.9971204769745075,
182      1.9960815258450408,
183      1.99466951229901,
184      1.9927520011783637,
185      1.990150825474096,
186      1.9866273657799762,
187      1.9818639817785302,
188      1.9754413400070105,
189      1.966812080875182,
190      1.9552726569746866,
191      1.9399375924081455,
192      1.9197241153652653,
193      1.8933599135051902,
194      1.859431354550243,
195      1.8164907165309923,
196      1.763233660944304,
197      1.6987375918686292,
198      1.6227189235472002,
199      1.5357359426674349,
200      1.4392571280474729,
201      1.3355490532347205,
202      1.2274031012899675,
203      1.1177798438255075,
204      1.0094697989775892,
205      0.9048446209457512,
206      0.8057267103443518,
207      0.713365234399616,
208      0.6284860973325861,
209      0.5513809883069823,
210      0.48200817714508226,
211      0.4200878538668957,
212      0.3651834430859606,
213      0.3167662042988149,
214      0.2742637879429781,
215      0.23709497833082183,
216      0.2046933221056748,
217      0.17652223170714082,
218      0.1520837931072954
219    ],
220    "predicted_supremum": 2.0,
221    "observed_supremum": 1.9999999933333332,
222    "threshold_at_y_over_r_1": 1.5357359426674349
223  },
224  "mini_experiment": {
225    "raw_min_clearance": -0.7999999999999993,
226    "projected_min_clearance": 0.009999999999999787,
227    "raw_final_position": [
228      -6.999999999999896,
229      0.0
230    ],
231    "projected_final_position": [
232      0.8099999999999998,
233      0.0
234    ]
235  }
236}