{
  "observation_id": 3,
  "part": "transport",
  "proposed_skill": "approach_fine",
  "sim_time": 13.471999999981941,
  "image": "ego_003.png",
  "gravity_body": [
    -0.10870096569247192,
    -0.0011555724947818974,
    -0.9940738225653721
  ],
  "body_velocity": [
    0.016893703479933696,
    -0.013651990097046192,
    -0.0009783198765606757
  ],
  "contact_summary_initialized": true,
  "contact_force_n": [
    0.0,
    0.0,
    159.23828749868156,
    184.90830566955583
  ],
  "gripper_m": [
    0.06031596846918759,
    0.0602997940969847
  ],
  "joint_positions": {
    "left_hip_pitch_joint": 0.024231690898874315,
    "left_hip_roll_joint": 0.11928159842900679,
    "left_hip_yaw_joint": 0.14187620690061456,
    "left_knee_joint": 0.21838913195703216,
    "left_ankle_pitch_joint": -0.12265404776809165,
    "left_ankle_roll_joint": -0.08040911609777578,
    "right_hip_pitch_joint": -0.0721855981546496,
    "right_hip_roll_joint": -0.05229881315778364,
    "right_hip_yaw_joint": -0.24012119591624986,
    "right_knee_joint": 0.18666145523349542,
    "right_ankle_pitch_joint": -0.01657809987059645,
    "right_ankle_roll_joint": 0.007653801872913174,
    "waist_yaw_joint": -0.0015499972676930485,
    "waist_roll_joint": -0.008039650428947645,
    "waist_pitch_joint": 0.0666330950312925,
    "left_shoulder_pitch_joint": 0.0008984967732228088,
    "left_shoulder_roll_joint": 0.21990707923465297,
    "left_shoulder_yaw_joint": -0.001977808473262916,
    "left_elbow_joint": 1.4003689725861606,
    "left_wrist_roll_joint": 0.00010628654959882006,
    "left_wrist_pitch_joint": 0.019723819034052972,
    "left_wrist_yaw_joint": -0.001069204836456784,
    "right_shoulder_pitch_joint": 0.002997010176212284,
    "right_shoulder_roll_joint": -0.2199742098219871,
    "right_shoulder_yaw_joint": 0.0019525691289220823,
    "right_elbow_joint": 1.4010716339508527,
    "right_wrist_roll_joint": -0.00011373423191118866,
    "right_wrist_pitch_joint": 0.020595565480994036,
    "right_wrist_yaw_joint": 0.0008584563093207026
  },
  "previous_decision": {
    "observation_id": 2,
    "execute": true,
    "horizon_s": 8.0,
    "speed_scale": 1.0,
    "controller": "sonic",
    "reason": "支架位于前方，当前处于行走周期中；继续SONIC至预留停步位置，随后切换带足端避让的小步精调。"
  },
  "available_controllers": [
    "legacy"
  ]
}