{"spec": "wheeled_biped.json", "spec_json": {"name": "wheeled_biped", "description": "Johnny 6. Chassis 318x280x170mm, 200mm segments, 380mm track, 125mm wheels.", "sim": {"timestep": 0.002, "control_hz": 100, "integrator": "implicitfast", "gravity": [0, 0, -9.81]}, "world": {"floor": {"friction": [1.0, 0.005, 0.0001], "size": 12.0}}, "root": {"name": "chassis", "pos": [0, 0, 0.425], "float": true, "geoms": [{"type": "box", "size": [0.125, 0.14, 0.085], "pos": [0, 0, 0], "mass": 2.3000000000000003, "rgba": [0.24, 0.3, 0.38, 1]}, {"type": "box", "size": [0.159, 0.14, 0.051000000000000004], "pos": [0, 0, 0], "mass": 1.2200000000000002, "rgba": [0.24, 0.3, 0.38, 1]}, {"type": "cylinder", "from": [0.125, -0.14, 0.051000000000000004], "to": [0.125, 0.14, 0.051000000000000004], "radius": 0.034, "mass": 0.1, "rgba": [0.24, 0.3, 0.38, 1]}, {"type": "cylinder", "from": [0.125, -0.14, -0.051000000000000004], "to": [0.125, 0.14, -0.051000000000000004], "radius": 0.034, "mass": 0.1, "rgba": [0.24, 0.3, 0.38, 1]}, {"type": "cylinder", "from": [-0.125, -0.14, 0.051000000000000004], "to": [-0.125, 0.14, 0.051000000000000004], "radius": 0.034, "mass": 0.1, "rgba": [0.24, 0.3, 0.38, 1]}, {"type": "cylinder", "from": [-0.125, -0.14, -0.051000000000000004], "to": [-0.125, 0.14, -0.051000000000000004], "radius": 0.034, "mass": 0.1, "rgba": [0.24, 0.3, 0.38, 1]}], "sites": [{"name": "imu", "pos": [0, 0, 0]}], "children": [{"name": "l_thigh", "pos": [0, 0.145, 0.0], "joint": {"name": "l_hip", "type": "hinge", "axis": [0, 1, 0], "range_deg": [-90, 90], "damping": 0.08, "armature": 0.008, "frictionloss": 0.01}, "geoms": [{"type": "box", "size": [0.02, 0.005, 0.1], "pos": [0, 0, -0.1], "mass": 0.9, "rgba": [0.62, 0.65, 0.7, 1]}], "children": [{"name": "l_shank", "pos": [0, 0.01, -0.2], "joint": {"name": "l_knee", "type": "hinge", "axis": [0, 1, 0], "range_deg": [-140, 0], "damping": 0.06, "armature": 0.006, "frictionloss": 0.01}, "geoms": [{"type": "box", "size": [0.018, 0.005, 0.1], "pos": [0, 0, -0.1], "mass": 0.35, "rgba": [0.62, 0.65, 0.7, 1]}], "children": [{"name": "l_wheel", "pos": [0, 0.035, -0.2], "joint": {"name": "l_wheel_j", "type": "hinge", "axis": [0, 1, 0], "continuous": true, "damping": 0.002, "armature": 0.004}, "geoms": [{"type": "cylinder", "from": [0, -0.02, 0], "to": [0, 0.02, 0], "radius": 0.0625, "mass": 0.35, "rgba": [0.12, 0.12, 0.14, 1], "friction": [1.5, 0.005, 0.0001], "contact": true}], "sites": [{"name": "l_foot", "pos": [0, 0, 0], "type": "sphere", "size": [0.0675]}]}]}]}, {"name": "r_thigh", "pos": [0, -0.145, 0.0], "joint": {"name": "r_hip", "type": "hinge", "axis": [0, 1, 0], "range_deg": [-90, 90], "damping": 0.08, "armature": 0.008, "frictionloss": 0.01}, "geoms": [{"type": "box", "size": [0.02, 0.005, 0.1], "pos": [0, 0, -0.1], "mass": 0.9, "rgba": [0.62, 0.65, 0.7, 1]}], "children": [{"name": "r_shank", "pos": [0, -0.01, -0.2], "joint": {"name": "r_knee", "type": "hinge", "axis": [0, 1, 0], "range_deg": [-140, 0], "damping": 0.06, "armature": 0.006, "frictionloss": 0.01}, "geoms": [{"type": "box", "size": [0.018, 0.005, 0.1], "pos": [0, 0, -0.1], "mass": 0.35, "rgba": [0.62, 0.65, 0.7, 1]}], "children": [{"name": "r_wheel", "pos": [0, -0.035, -0.2], "joint": {"name": "r_wheel_j", "type": "hinge", "axis": [0, 1, 0], "continuous": true, "damping": 0.002, "armature": 0.004}, "geoms": [{"type": "cylinder", "from": [0, -0.02, 0], "to": [0, 0.02, 0], "radius": 0.0625, "mass": 0.35, "rgba": [0.12, 0.12, 0.14, 1], "friction": [1.5, 0.005, 0.0001], "contact": true}], "sites": [{"name": "r_foot", "pos": [0, 0, 0], "type": "sphere", "size": [0.0675]}]}]}]}]}, "actuators": [{"name": "l_hip_a", "joint": "l_hip", "mode": "position", "kp": 180.0, "kv": 9.0, "motor": "D5050", "gear_ratio": 5.088, "action_scale": 0.7}, {"name": "l_knee_a", "joint": "l_knee", "mode": "position", "kp": 180.0, "kv": 9.0, "motor": "D5050", "gear_ratio": 5.088, "action_scale": 0.7}, {"name": "r_hip_a", "joint": "r_hip", "mode": "position", "kp": 180.0, "kv": 9.0, "motor": "D5050", "gear_ratio": 5.088, "action_scale": 0.7}, {"name": "r_knee_a", "joint": "r_knee", "mode": "position", "kp": 180.0, "kv": 9.0, "motor": "D5050", "gear_ratio": 5.088, "action_scale": 0.7}, {"name": "l_wheel_a", "joint": "l_wheel_j", "mode": "torque", "motor": "DD-4125", "gear_ratio": 1.0}, {"name": "r_wheel_a", "joint": "r_wheel_j", "mode": "torque", "motor": "DD-4125", "gear_ratio": 1.0}], "sensors": [{"name": "gyro", "type": "gyro", "site": "imu", "rate_hz": 200, "noise": 0.02, "bias": 0.01, "in_obs": true}, {"name": "accel", "type": "accelerometer", "site": "imu", "rate_hz": 200, "noise": 0.25, "bias": 0.08, "in_obs": true, "scale": 0.1}, {"name": "mag", "type": "magnetometer", "site": "imu", "rate_hz": 50, "noise": 0.05, "bias": 0.05, "in_obs": false}, {"name": "l_hip_pos", "type": "jointpos", "joint": "l_hip", "rate_hz": 500, "noise": 0.003, "bias": 0.004, "in_obs": true}, {"name": "l_knee_pos", "type": "jointpos", "joint": "l_knee", "rate_hz": 500, "noise": 0.003, "bias": 0.004, "in_obs": true}, {"name": "r_hip_pos", "type": "jointpos", "joint": "r_hip", "rate_hz": 500, "noise": 0.003, "bias": 0.004, "in_obs": true}, {"name": "r_knee_pos", "type": "jointpos", "joint": "r_knee", "rate_hz": 500, "noise": 0.003, "bias": 0.004, "in_obs": true}, {"name": "l_hip_vel", "type": "jointvel", "joint": "l_hip", "rate_hz": 500, "noise": 0.05, "in_obs": true, "scale": 0.1}, {"name": "l_knee_vel", "type": "jointvel", "joint": "l_knee", "rate_hz": 500, "noise": 0.05, "in_obs": true, "scale": 0.1}, {"name": "r_hip_vel", "type": "jointvel", "joint": "r_hip", "rate_hz": 500, "noise": 0.05, "in_obs": true, "scale": 0.1}, {"name": "r_knee_vel", "type": "jointvel", "joint": "r_knee", "rate_hz": 500, "noise": 0.05, "in_obs": true, "scale": 0.1}, {"name": "l_wheel_vel", "type": "jointvel", "joint": "l_wheel_j", "rate_hz": 500, "noise": 0.1, "in_obs": true, "scale": 0.05}, {"name": "r_wheel_vel", "type": "jointvel", "joint": "r_wheel_j", "rate_hz": 500, "noise": 0.1, "in_obs": true, "scale": 0.05}, {"name": "l_touch", "type": "touch", "site": "l_foot", "rate_hz": 200, "in_obs": false}, {"name": "r_touch", "type": "touch", "site": "r_foot", "rate_hz": 200, "in_obs": false}], "init": {"qpos": {"l_hip": 0.4363, "l_knee": -0.8727, "r_hip": 0.4363, "r_knee": -0.8727}, "noise": {"joint": 0.05, "base_z": 0.01, "base_rpy": 0.05, "base_vel": 0.05}}, "task": {"type": "balance_and_drive", "target_height": 0.425, "command": {"vx_range": [-0.6, 0.6], "wz_range": [-1.0, 1.0], "resample_s": 4.0}, "episode_s": 12.0, "terminate": {"max_tilt_deg": 55, "min_height": 0.255}, "reward": {"alive": 1.0, "upright": 2.0, "height": 8.0, "track_vx": 1.5, "track_wz": 0.6, "torque": 0.0015, "action_rate": 0.02, "joint_nominal": 0.3, "yaw_drift": 0.2}}, "domain_randomisation": {"enabled": true, "mass_scale": [0.85, 1.15], "com_offset": 0.012, "friction_scale": [0.6, 1.4], "actuator_gain_scale": [0.85, 1.15], "latency_steps": [0, 3], "push": {"every_s": 3.0, "impulse": [0.0, 1.0]}}, "motors": {"D5050": {"kv": 300, "voltage": 24, "rated_torque": 1.2, "max_torque": 2.4, "rated_w": 650, "max_w": 1300, "mass": 0.42, "efficiency": 0.94, "note": "50x50mm, 14 pole, 12-36V. 0.94 covers one gear mesh plus one belt."}, "DD-4125": {"kv": 300, "voltage": 24, "rated_current_a": 12, "max_current_a": 18.5, "rated_w": 178, "mass": 0.2, "efficiency": 1.0, "note": "41x25mm. No published torque: 0.33/0.51 Nm from Kt=8.27/Kv."}}}, "task": "stand", "task_label": "Stand still", "props": [], "spec_path": "/Users/mattstaines/robot-bench/robots/wheeled_biped.json", "policy": null, "steps_trained": 3072, "bodies": ["chassis", "l_thigh", "l_shank", "l_wheel", "r_thigh", "r_shank", "r_wheel"], "dt": 0.02, "episode_s": 10.0, "frames": [{"t": 0.0, "pos": [[0.0, 0.0, 0.42966], [0.00625, 0.14486, 0.42993], [-0.03653, 0.15708, 0.23468], [0.08443, 0.18718, 0.07441], [-0.00625, -0.14486, 0.4294], [-0.06659, -0.15192, 0.23858], [0.02538, -0.1906, 0.06175]], "quat": [[0.99639, -0.00086, -0.08208, -0.02157], [0.99383, 0.00326, 0.10877, -0.02134], [0.9489, -0.00592, -0.31483, -0.02076], [0.9489, -0.00592, -0.31483, -0.02076], [0.9882, 0.00418, 0.15165, -0.02118], [0.9703, -0.00431, -0.24095, -0.02115], [0.9703, -0.00431, -0.24095, -0.02115]]}, {"t": 0.01, "pos": [[0.00036, 0.0003, 0.42923], [0.00689, 0.14515, 0.4294], [-0.03666, 0.15736, 0.23432], [0.08418, 0.18713, 0.0739], [-0.00617, -0.14455, 0.42906], [-0.06699, -0.1516, 0.2384], [0.02569, -0.1906, 0.06201]], "quat": [[0.99644, -0.00125, -0.08119, -0.02249], [0.99359, 0.00308, 0.11078, -0.02232], [0.94905, -0.00653, -0.31431, -0.02156], [0.94902, -0.00653, -0.31441, -0.02156], [0.98799, 0.00402, 0.15285, -0.02217], [0.96974, -0.00491, -0.24311, -0.02199], [0.97143, -0.00475, -0.23625, -0.02202]]}, {"t": 0.03, "pos": [[0.0013, 0.00164, 0.42667], [0.00975, 0.1464, 0.42649], [-0.0383, 0.15899, 0.2325], [0.07953, 0.18697, 0.06953], [-0.00715, -0.14311, 0.42684], [-0.06845, -0.14978, 0.23632], [0.02814, -0.19068, 0.06248]], "quat": [[0.99644, -0.0029, -0.07905, -0.029], [0.99202, 0.00298, 0.12264, -0.02899], [0.95213, -0.00944, -0.3043, -0.02757], [0.95164, -0.00949, -0.30582, -0.02755], [0.98767, 0.00389, 0.15382, -0.02888], [0.9664, -0.00802, -0.25538, -0.02801], [0.976, -0.00688, -0.2158, -0.02832]]}, {"t": 0.05, "pos": [[0.0019, 0.00442, 0.42303], [0.01244, 0.14904, 0.42208], [-0.04017, 0.16163, 0.22927], [0.07369, 0.18733, 0.06313], [-0.00865, -0.14019, 0.42398], [-0.06918, -0.14706, 0.23322], [0.03178, -0.19064, 0.06253]], "quat": [[0.99634, -0.00609, -0.0773, -0.03602], [0.99021, 0.00165, 0.13471, -0.0365], [0.95584, -0.01376, -0.29161, -0.03384], [0.95485, -0.01387, -0.29482, -0.0338], [0.98779, 0.00227, 0.15144, -0.03646], [0.96235, -0.01297, -0.26934, -0.03415], [0.98201, -0.00997, -0.18525, -0.03515]]}, {"t": 0.07, "pos": [[0.00127, 0.00642, 0.42108], [0.0127, 0.15096, 0.4196], [-0.04228, 0.16338, 0.22745], [0.07365, 0.18765, 0.06254], [-0.01015, -0.13812, 0.42255], [-0.06902, -0.14545, 0.23129], [0.03513, -0.1905, 0.06292]], "quat": [[0.99613, -0.00816, -0.07835, -0.03891], [0.98922, 0.00053, 0.14095, -0.03975], [0.95398, -0.01658, -0.29721, -0.03613], [0.95748, -0.01615, -0.28576, -0.03633], [0.98835, 0.00077, 0.14695, -0.03975], [0.95942, -0.0159, -0.27918, -0.03644], [0.98764, -0.01101, -0.15162, -0.0382]]}, {"t": 0.09, "pos": [[-0.00054, 0.00651, 0.41959], [0.01101, 0.15104, 0.41812], [-0.0422, 0.16337, 0.22547], [0.07665, 0.18733, 0.06261], [-0.01209, -0.13802, 0.42106], [-0.06887, -0.14546, 0.22917], [0.038, -0.19081, 0.06259]], "quat": [[0.99575, -0.00835, -0.08283, -0.03931], [0.98983, 0.00043, 0.13644, -0.04019], [0.95129, -0.01701, -0.30567, -0.03641], [0.96383, -0.01539, -0.26346, -0.03712], [0.98912, 0.00064, 0.14151, -0.04018], [0.95707, -0.0163, -0.28706, -0.03673], [0.99204, -0.00979, -0.11934, -0.03898]]}, {"t": 0.11, "pos": [[-0.00333, 0.00623, 0.41839], [0.00831, 0.15076, 0.41711], [-0.04095, 0.16304, 0.2234], [0.08069, 0.18693, 0.0626], [-0.01496, -0.1383, 0.41967], [-0.06816, -0.14576, 0.22676], [0.04234, -0.19122, 0.06261]], "quat": [[0.99501, -0.00807, -0.09126, -0.03958], [0.99117, 0.00069, 0.12629, -0.04039], [0.94862, -0.01681, -0.31384, -0.03673], [0.97187, -0.01363, -0.23204, -0.03803], [0.99039, 0.00093, 0.13229, -0.04039], [0.95383, -0.01618, -0.29762, -0.03701], [0.99558, -0.00781, -0.08482, -0.03963]]}, {"t": 0.13, "pos": [[-0.00688, 0.00615, 0.4167], [0.00477, 0.15067, 0.41554], [-0.0397, 0.16273, 0.22067], [0.0855, 0.18649, 0.0626], [-0.01853, -0.13838, 0.41785], [-0.06716, -0.14604, 0.22375], [0.04759, -0.1917, 0.06259]], "quat": [[0.99396, -0.00807, -0.10203, -0.03958], [0.99265, 0.00063, 0.11406, -0.04039], [0.94505, -0.01682, -0.32442, -0.03673], [0.98011, -0.01173, -0.1943, -0.03866], [0.99188, 0.00089, 0.12059, -0.04039], [0.94986, -0.01626, -0.31004, -0.03698], [0.99826, -0.00571, -0.04297, -0.03999]]}, {"t": 0.15, "pos": [[-0.01125, 0.00636, 0.41442], [0.00014, 0.15091, 0.41326], [-0.03838, 0.16239, 0.21709], [0.09125, 0.18604, 0.06261], [-0.02264, -0.13819, 0.41559], [-0.0658, -0.14639, 0.22022], [0.05371, -0.19219, 0.06259]], "quat": [[0.99253, -0.00853, -0.11539, -0.03858], [0.99432, -0.00011, 0.09884, -0.03952], [0.94032, -0.01708, -0.33798, -0.03564], [0.98803, -0.00984, -0.1491, -0.03827], [0.99351, 0.0002, 0.10662, -0.03952], [0.94524, -0.01655, -0.32399, -0.03589], [0.9992, -0.00379, 0.00574, -0.03933]]}, {"t": 0.17, "pos": [[-0.01649, 0.00695, 0.41134], [-0.00565, 0.15154, 0.40998], [-0.03701, 0.16206, 0.21248], [0.09797, 0.18563, 0.06265], [-0.02732, -0.13764, 0.4127], [-0.06404, -0.14677, 0.21606], [0.06076, -0.19266, 0.06262]], "quat": [[0.99063, -0.00956, -0.13124, -0.03644], [0.99604, -0.00167, 0.08051, -0.03764], [0.93416, -0.01766, -0.35485, -0.03328], [0.99466, -0.00827, -0.0961, -0.03676], [0.9952, -0.0013, 0.09031, -0.03766], [0.93983, -0.01712, -0.33955, -0.03356], [0.99739, -0.00238, 0.06153, -0.0376]]}, {"t": 0.19, "pos": [[-0.02264, 0.00786, 0.40724], [-0.0126, 0.1525, 0.40549], [-0.03542, 0.16171, 0.20676], [0.10571, 0.18527, 0.06271], [-0.03267, -0.13678, 0.40898], [-0.06193, -0.14716, 0.21115], [0.06873, -0.1931, 0.06268]], "quat": [[0.98808, -0.01114, -0.14985, -0.03334], [0.99765, -0.00397, 0.05879, -0.03493], [0.92638, -0.01857, -0.37494, -0.02985], [0.99877, -0.00722, -0.03498, -0.0344], [0.99682, -0.00352, 0.0715, -0.03498], [0.93344, -0.01799, -0.35701, -0.0302], [0.99163, -0.00166, 0.12425, -0.03511]]}, {"t": 0.21, "pos": [[-0.02973, 0.0091, 0.40181], [-0.02061, 0.15379, 0.3995], [-0.03355, 0.16144, 0.19982], [0.11443, 0.185, 0.06281], [-0.03885, -0.1356, 0.40412], [-0.05944, -0.14749, 0.20529], [0.07766, -0.19349, 0.06277]], "quat": [[0.98467, -0.01325, -0.1714, -0.02965], [0.9989, -0.0069, 0.03376, -0.03173], [0.91677, -0.01985, -0.39809, -0.0257], [0.9989, -0.0069, 0.03389, -0.03173], [0.99823, -0.00639, 0.04978, -0.03184], [0.92575, -0.01925, -0.37675, -0.02615], [0.98048, -0.00171, 0.1939, -0.03243]]}, {"t": 0.23, "pos": [[-0.03778, 0.01064, 0.39474], [-0.0296, 0.15538, 0.39168], [-0.03132, 0.16127, 0.19153], [0.12402, 0.18484, 0.06292], [-0.04596, -0.1341, 0.39779], [-0.05657, -0.14772, 0.19829], [0.08755, -0.19379, 0.06288]], "quat": [[0.98014, -0.01586, -0.196, -0.02561], [0.99953, -0.01038, 0.00542, -0.02828], [0.90512, -0.02151, -0.4241, -0.02108], [0.99351, -0.00737, 0.1097, -0.0292], [0.99924, -0.00983, 0.02486, -0.02847], [0.91645, -0.02092, -0.39901, -0.02167], [0.9624, -0.00252, 0.26996, -0.03002]]}, {"t": 0.25, "pos": [[-0.04676, 0.01242, 0.38564], [-0.03944, 0.15718, 0.3817], [-0.02861, 0.16121, 0.18179], [0.13438, 0.1848, 0.06302], [-0.05407, -0.13234, 0.38958], [-0.05329, -0.14783, 0.18993], [0.09832, -0.19401, 0.06301]], "quat": [[0.97419, -0.0189, -0.2239, -0.02156], [0.99925, -0.01425, -0.02618, -0.02488], [0.89122, -0.02355, -0.45267, -0.01636], [0.98112, -0.00851, 0.19125, -0.02738], [0.99958, -0.01368, -0.00358, -0.0252], [0.9052, -0.02302, -0.42401, -0.0171], [0.93587, -0.00385, 0.35119, -0.02841]]}, {"t": 0.27, "pos": [[-0.05662, 0.01434, 0.37413], [-0.05, 0.1591, 0.3692], [-0.02531, 0.16122, 0.17049], [0.14541, 0.18482, 0.06314], [-0.06323, -0.13043, 0.37906], [-0.04961, -0.14785, 0.18003], [0.10977, -0.19417, 0.06309]], "quat": [[0.9665, -0.02227, -0.25508, -0.01771], [0.99772, -0.01838, -0.06114, -0.02173], [0.87479, -0.02593, -0.48366, -0.01173], [0.9604, -0.01002, 0.27715, -0.02663], [0.99896, -0.01782, -0.03563, -0.02219], [0.89173, -0.02549, -0.45167, -0.01266], [0.89977, -0.00538, 0.43543, -0.02794]]}, {"t": 0.29, "pos": [[-0.06726, 0.0164, 0.35978], [-0.06118, 0.16115, 0.35374], [-0.02142, 0.16131, 0.15747], [0.15688, 0.18494, 0.06326], [-0.07335, -0.12834, 0.36582], [-0.04547, -0.14777, 0.16847], [0.12185, -0.19425, 0.06326]], "quat": [[0.95678, -0.02602, -0.28929, -0.01406], [0.99462, -0.02282, -0.09931, -0.01882], [0.85547, -0.02869, -0.517, -0.00719], [0.93074, -0.01175, 0.36448, -0.02715], [0.99701, -0.02229, -0.0714, -0.01945], [0.87556, -0.02838, -0.48221, -0.00834], [0.85338, -0.00686, 0.52045, -0.02877]]}, {"t": 0.31, "pos": [[-0.07854, 0.01847, 0.34217], [-0.07273, 0.16317, 0.33497], [-0.01675, 0.16138, 0.14272], [0.16865, 0.18507, 0.06341], [-0.08435, -0.12624, 0.34937], [-0.04094, -0.14767, 0.15506], [0.13412, -0.19432, 0.06341]], "quat": [[0.94454, -0.03003, -0.32685, -0.01081], [0.98951, -0.02742, -0.14088, -0.01633], [0.83301, -0.03177, -0.55234, -0.00297], [0.89184, -0.01312, 0.45123, -0.02909], [0.99334, -0.02691, -0.11071, -0.01716], [0.85643, -0.03161, -0.51528, -0.00436], [0.79757, -0.00775, 0.60239, -0.03096]]}, {"t": 0.33, "pos": [[-0.09023, 0.02052, 0.32091], [-0.0844, 0.16516, 0.31255], [-0.01132, 0.16147, 0.12615], [0.18036, 0.1852, 0.06354], [-0.09607, -0.12412, 0.32927], [-0.03597, -0.14753, 0.13969], [0.14631, -0.19437, 0.06351]], "quat": [[0.92943, -0.03422, -0.36731, -0.00812], [0.98202, -0.03208, -0.18548, -0.01443], [0.80714, -0.03517, -0.58931, 0.00075], [0.84476, -0.01362, 0.53399, -0.03243], [0.9875, -0.03159, -0.15365, -0.01546], [0.83395, -0.03516, -0.55071, -0.00091], [0.73368, -0.0075, 0.67859, -0.03436]]}, {"t": 0.35, "pos": [[-0.10209, 0.0225, 0.29564], [-0.09589, 0.16706, 0.28618], [-0.00511, 0.16152, 0.10778], [0.19165, 0.1853, 0.06366], [-0.1083, -0.12206, 0.3051], [-0.03059, -0.14738, 0.12229], [0.15803, -0.19442, 0.06368]], "quat": [[0.91098, -0.03855, -0.41059, -0.00611], [0.9717, -0.03673, -0.23296, -0.01322], [0.77754, -0.03885, -0.62762, 0.00383], [0.79151, -0.01278, 0.6099, -0.03688], [0.979, -0.03626, -0.20008, -0.01445], [0.80761, -0.03899, -0.58843, 0.00191], [0.66484, -0.00573, 0.74597, -0.03861]]}, {"t": 0.37, "pos": [[-0.11381, 0.02438, 0.26605], [-0.10691, 0.16884, 0.25558], [0.0019, 0.1615, 0.08763], [0.20211, 0.18534, 0.06376], [-0.12072, -0.12008, 0.27652], [-0.02481, -0.14729, 0.10285], [0.16876, -0.1945, 0.06378]], "quat": [[0.88875, -0.04303, -0.45634, -0.00469], [0.95808, -0.04141, -0.28322, -0.0126], [0.74385, -0.04281, -0.66694, 0.00639], [0.73525, -0.01047, 0.67641, -0.042], [0.96736, -0.04095, -0.24967, -0.01404], [0.77716, -0.04308, -0.62782, 0.00418], [0.59519, -0.0024, 0.80242, -0.04322]]}], "series": {"t": [0.01, 0.03, 0.05, 0.07, 0.09, 0.11, 0.13, 0.15, 0.17, 0.19, 0.21, 0.23, 0.25, 0.27, 0.29, 0.31, 0.33, 0.35, 0.37], "height": [0.4292, 0.4267, 0.423, 0.4211, 0.4196, 0.4184, 0.4167, 0.4144, 0.4113, 0.4072, 0.4018, 0.3947, 0.3856, 0.3741, 0.3598, 0.3422, 0.3209, 0.2956, 0.2661], "up_z": [0.9868, 0.9875, 0.988, 0.9876, 0.9861, 0.9832, 0.979, 0.9732, 0.9654, 0.9548, 0.9409, 0.9227, 0.899, 0.8689, 0.8313, 0.7845, 0.7278, 0.6599, 0.5798], "reward": [4.315, 4.287, 3.914, 4.3, 4.169, 4.012, 3.803, 3.565, 3.331, 3.126, 2.969, 2.863, 2.786, 2.712, 2.625, 2.511, 2.367, 2.184, 1.956], "cmd_vx": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "cmd_wz": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "action": [[0.029, 0.014, 0.029, -0.001, 0.019, -0.008], [0.041, 0.015, 0.012, 0.001, 0.004, -0.022], [0.037, 0.025, 0.018, -0.006, 0.002, -0.023], [0.007, 0.017, 0.017, 0.006, 0.007, -0.012], [-0.006, 0.001, 0.014, 0.009, 0.024, -0.005], [-0.012, -0.006, 0.014, 0.015, 0.025, -0.006], [-0.02, -0.007, 0.015, 0.017, 0.023, -0.007], [-0.031, -0.011, 0.015, 0.019, 0.025, -0.007], [-0.043, -0.011, 0.018, 0.021, 0.022, -0.006], [-0.054, -0.014, 0.019, 0.024, 0.022, -0.005], [-0.065, -0.015, 0.019, 0.025, 0.02, -0.006], [-0.071, -0.016, 0.018, 0.027, 0.021, -0.008], [-0.077, -0.016, 0.018, 0.028, 0.018, -0.01], [-0.084, -0.021, 0.015, 0.031, 0.022, -0.011], [-0.086, -0.016, 0.016, 0.03, 0.018, -0.014], [-0.091, -0.016, 0.013, 0.032, 0.017, -0.016], [-0.092, -0.017, 0.013, 0.033, 0.016, -0.017], [-0.094, -0.017, 0.013, 0.035, 0.015, -0.018], [-0.093, -0.016, 0.011, 0.036, 0.014, -0.022]]}, "summary": {"survived_s": 0.38, "fell": true, "total_reward": 122.5, "steps": 38, "randomised": false, "success": false}}