{
  "comment": "Deterministic quantized proprioceptive fixture specs. These are afferent feedback cases, never motor commands.",
  "fixtures": [
    {
      "id": "resting_pose",
      "pose_q": [0, 0, 0],
      "velocity_q": [0, 0, 0],
      "force_torque_q": [0, 0, 0],
      "contact_q": [0, 0],
      "actuator_state_q": [1, 1],
      "expect": "stationary proprioceptive state"
    },
    {
      "id": "moving_contact",
      "pose_q": [10, -4, 3],
      "velocity_q": [2, 0, -1],
      "force_torque_q": [3, 5, 8],
      "contact_q": [1, 0, 1],
      "actuator_state_q": [7, 8],
      "expect": "moving state with contact"
    },
    {
      "id": "force_spike",
      "pose_q": [1, 1, 1],
      "velocity_q": [0, 0, 0],
      "force_torque_q": [20, -15, 4],
      "contact_q": [1, 1],
      "actuator_state_q": [9, 9],
      "expect": "force torque evidence"
    }
  ]
}
