{
  "observation_id": 51,
  "part": "burpee",
  "proposed_skill": "jump",
  "sim_time": 149.21200000270625,
  "image": "ego_051.png",
  "gravity_body": [
    0.01846799670500528,
    6.024176934609632e-05,
    -0.9998294501906984
  ],
  "body_velocity": [
    0.000996174438592197,
    2.1527178004369022e-05,
    -8.104214839379561e-05
  ],
  "contact_force_n": [
    0.0,
    0.0,
    172.89892430272934,
    171.29245998679085
  ],
  "gripper_m": [
    0.06031868655371228,
    0.06031848400370799
  ],
  "joint_positions": {
    "left_hip_pitch_joint": -0.15466983254769573,
    "left_hip_roll_joint": -0.0009076371924624711,
    "left_hip_yaw_joint": 0.0003433836820993305,
    "left_knee_joint": 0.3138231552802583,
    "left_ankle_pitch_joint": -0.17796410573869248,
    "left_ankle_roll_joint": 0.0004528819705686471,
    "right_hip_pitch_joint": -0.1545161381985747,
    "right_hip_roll_joint": 0.000544064991764533,
    "right_hip_yaw_joint": -0.00018719498730530623,
    "right_knee_joint": 0.313608903295672,
    "right_ankle_pitch_joint": -0.1778894901668062,
    "right_ankle_roll_joint": -0.00024677910390446476,
    "waist_yaw_joint": 2.778296984115891e-06,
    "waist_roll_joint": -0.00021979400824906237,
    "waist_pitch_joint": 0.027551266001015113,
    "left_shoulder_pitch_joint": 0.0024698912254650556,
    "left_shoulder_roll_joint": 0.1979877663346385,
    "left_shoulder_yaw_joint": -0.0034079851418480685,
    "left_elbow_joint": 1.4013116855889003,
    "left_wrist_roll_joint": -0.00025740969715029913,
    "left_wrist_pitch_joint": 0.022435121364711225,
    "left_wrist_yaw_joint": -0.004517536873258827,
    "right_shoulder_pitch_joint": 0.0024649672482674047,
    "right_shoulder_roll_joint": -0.19778502665539488,
    "right_shoulder_yaw_joint": 0.0034374203762398328,
    "right_elbow_joint": 1.4013103274065615,
    "right_wrist_roll_joint": 0.00026253635199430936,
    "right_wrist_pitch_joint": 0.02243090401121148,
    "right_wrist_yaw_joint": 0.004561525626230094
  },
  "previous_decision": {
    "observation_id": 50,
    "execute": true,
    "horizon_s": 2.0,
    "speed_scale": 1.0,
    "controller": "legacy",
    "reason": "姿态已回到近竖直，双足均衡接触但仍有下降速度；继续落地缓冲与回臂，暂不提前定姿。"
  },
  "available_controllers": [
    "legacy"
  ]
}