{
  "observation_id": 49,
  "part": "burpee",
  "proposed_skill": "jump",
  "sim_time": 147.01200000263321,
  "image": "ego_049.png",
  "gravity_body": [
    0.06788679362646505,
    0.002049786774973736,
    -0.997690924898736
  ],
  "body_velocity": [
    -0.4851226613000643,
    -0.004957505969696194,
    -0.3516612289490189
  ],
  "contact_force_n": [
    0.0,
    0.0,
    280.5938339025346,
    271.8523161233905
  ],
  "gripper_m": [
    0.061430778181848146,
    0.06143761469520983
  ],
  "joint_positions": {
    "left_hip_pitch_joint": -0.11182577098353173,
    "left_hip_roll_joint": -0.002320597105559491,
    "left_hip_yaw_joint": 0.001746514510672293,
    "left_knee_joint": 0.10650393261817727,
    "left_ankle_pitch_joint": 0.14634484851397958,
    "left_ankle_roll_joint": 0.012827136740754261,
    "right_hip_pitch_joint": -0.11206487152113186,
    "right_hip_roll_joint": 0.0019801937672061197,
    "right_hip_yaw_joint": -0.002387790267958228,
    "right_knee_joint": 0.10709913583832174,
    "right_ankle_pitch_joint": 0.1479169543337444,
    "right_ankle_roll_joint": -0.017700290248407493,
    "waist_yaw_joint": 0.00034926878967019665,
    "waist_roll_joint": -0.0004398935200257623,
    "waist_pitch_joint": 0.025149374143094285,
    "left_shoulder_pitch_joint": -1.528875348729202,
    "left_shoulder_roll_joint": 0.45470634612176825,
    "left_shoulder_yaw_joint": 0.0009408581229908552,
    "left_elbow_joint": 1.3973007020527648,
    "left_wrist_roll_joint": 0.003477204953135954,
    "left_wrist_pitch_joint": 0.01590323553899716,
    "left_wrist_yaw_joint": 0.013406825294042855,
    "right_shoulder_pitch_joint": -1.5290556474501247,
    "right_shoulder_roll_joint": -0.4541588040764644,
    "right_shoulder_yaw_joint": -0.000907581694793837,
    "right_elbow_joint": 1.397220651322638,
    "right_wrist_roll_joint": -0.0034402770865316584,
    "right_wrist_pitch_joint": 0.015741113998596075,
    "right_wrist_yaw_joint": -0.013411337055991785
  },
  "previous_decision": {
    "observation_id": 48,
    "execute": true,
    "horizon_s": 3.1,
    "speed_scale": 1.0,
    "controller": "legacy",
    "reason": "起身完成，支架留在前方且双手已脱离；执行后摆臂屈膝和前摆臂起跳，在起跳附近提前复查。"
  },
  "available_controllers": [
    "legacy"
  ]
}