{
  "observation_id": 12,
  "part": "transport",
  "proposed_skill": "carry_center",
  "sim_time": 46.10400000040696,
  "image": "ego_012.png",
  "gravity_body": [
    -0.2537890195780047,
    -0.01122570669559636,
    -0.9671944566894582
  ],
  "body_velocity": [
    0.0018689273309733924,
    -0.10123507238431667,
    -0.012609872582509
  ],
  "contact_summary_initialized": true,
  "contact_force_n": [
    23.449987008627225,
    19.149929476739903,
    90.20800463097356,
    252.13056939987393
  ],
  "gripper_m": [
    -0.00032746901322319727,
    -0.0017721237389593482
  ],
  "joint_positions": {
    "left_hip_pitch_joint": 0.09473771947223836,
    "left_hip_roll_joint": 0.1643988569907993,
    "left_hip_yaw_joint": 0.3102703215862581,
    "left_knee_joint": 0.47582286360848475,
    "left_ankle_pitch_joint": -0.27040699196636986,
    "left_ankle_roll_joint": -0.0388750966541203,
    "right_hip_pitch_joint": 0.12535705432511643,
    "right_hip_roll_joint": -0.026118074192791513,
    "right_hip_yaw_joint": -0.17618944011951265,
    "right_knee_joint": 0.4606617743611657,
    "right_ankle_pitch_joint": -0.3468072525387704,
    "right_ankle_roll_joint": -0.008533204311111058,
    "waist_yaw_joint": 0.006663275284853406,
    "waist_roll_joint": -0.01524780346606683,
    "waist_pitch_joint": 0.07812742578108987,
    "left_shoulder_pitch_joint": 0.27916643456292894,
    "left_shoulder_roll_joint": 0.7671041375959372,
    "left_shoulder_yaw_joint": -0.5874499834660093,
    "left_elbow_joint": 0.48356563249971596,
    "left_wrist_roll_joint": -0.7973054702470316,
    "left_wrist_pitch_joint": -1.0450380011953289,
    "left_wrist_yaw_joint": -1.5927139264501535,
    "right_shoulder_pitch_joint": 0.14375690997110813,
    "right_shoulder_roll_joint": -0.7007327584923546,
    "right_shoulder_yaw_joint": -2.2093605867812354,
    "right_elbow_joint": 2.0840472167137607,
    "right_wrist_roll_joint": -1.971369297709635,
    "right_wrist_pitch_joint": -1.4451597706510468,
    "right_wrist_yaw_joint": 1.6129809463661262
  },
  "previous_decision": {
    "observation_id": 11,
    "execute": true,
    "horizon_s": 8.0,
    "speed_scale": 1.0,
    "controller": "sonic",
    "reason": "身体竖直、两手夹持接触持续，膝角稳定；切换SONIC转向舞台中心，同时保持上肢夹持参考。"
  },
  "available_controllers": [
    "legacy",
    "sonic"
  ]
}