{
  "observation_id": 11,
  "part": "transport",
  "proposed_skill": "turn_center",
  "sim_time": 44.794000000363475,
  "image": "ego_011.png",
  "gravity_body": [
    0.007473287375340082,
    0.00013681330561565372,
    -0.9999720652387888
  ],
  "body_velocity": [
    -0.004555441556114316,
    0.008891068574610275,
    0.0011849828791119696
  ],
  "contact_summary_initialized": true,
  "contact_force_n": [
    19.960335518538827,
    18.679542513218795,
    188.5064631379471,
    167.78863479320842
  ],
  "gripper_m": [
    -0.0013110367124493816,
    -0.0016696967198302384
  ],
  "joint_positions": {
    "left_hip_pitch_joint": -0.153800842753715,
    "left_hip_roll_joint": 0.007596526187883347,
    "left_hip_yaw_joint": -0.0008328439078806299,
    "left_knee_joint": 0.32622976155831435,
    "left_ankle_pitch_joint": -0.18044469172461394,
    "left_ankle_roll_joint": 0.001191566492208817,
    "right_hip_pitch_joint": -0.15384517770871256,
    "right_hip_roll_joint": -0.003589551625142694,
    "right_hip_yaw_joint": -1.3275880787265713e-05,
    "right_knee_joint": 0.3275862188334106,
    "right_ankle_pitch_joint": -0.18149844527512746,
    "right_ankle_roll_joint": -0.003071117651300805,
    "waist_yaw_joint": 0.00022960853483442,
    "waist_roll_joint": -0.0014628542574515724,
    "waist_pitch_joint": 0.07807018807450491,
    "left_shoulder_pitch_joint": 0.2665738942818909,
    "left_shoulder_roll_joint": 0.7725064303682984,
    "left_shoulder_yaw_joint": -0.5782237441834784,
    "left_elbow_joint": 0.4812762147438314,
    "left_wrist_roll_joint": -0.7977002946532569,
    "left_wrist_pitch_joint": -1.0584708015066933,
    "left_wrist_yaw_joint": -1.5912741393786003,
    "right_shoulder_pitch_joint": 0.13564925587375157,
    "right_shoulder_roll_joint": -0.6905897935468224,
    "right_shoulder_yaw_joint": -2.2106320432773616,
    "right_elbow_joint": 2.088352715639682,
    "right_wrist_roll_joint": -1.970238860099545,
    "right_wrist_pitch_joint": -1.4531133184599352,
    "right_wrist_yaw_joint": 1.6078889761326505
  },
  "previous_decision": {
    "observation_id": 10,
    "execute": true,
    "horizon_s": 8.0,
    "speed_scale": 1.0,
    "controller": "legacy",
    "reason": "提架后视野已抬高，双手仍有约20N接触，膝关节接近站姿；继续稳住负载至转身条件满足。"
  },
  "available_controllers": [
    "legacy",
    "sonic"
  ]
}