{
  "observation_id": 15,
  "part": "transport",
  "proposed_skill": "turn_front",
  "sim_time": 57.20200000077538,
  "image": "ego_015.png",
  "gravity_body": [
    0.04502191263471782,
    -0.00453063876154868,
    -0.9989757257787227
  ],
  "body_velocity": [
    -0.01896489533678569,
    0.04604920832282185,
    -0.0004914609350979798
  ],
  "contact_summary_initialized": true,
  "contact_force_n": [
    21.38830766473291,
    18.11498490149271,
    185.54363570003665,
    171.4971503574105
  ],
  "gripper_m": [
    -0.0008053431538991666,
    -0.0016283894983546785
  ],
  "joint_positions": {
    "left_hip_pitch_joint": -0.18424552934243865,
    "left_hip_roll_joint": 0.007012312230288135,
    "left_hip_yaw_joint": 0.00880069232928461,
    "left_knee_joint": 0.31124788370448014,
    "left_ankle_pitch_joint": -0.1713856369106419,
    "left_ankle_roll_joint": 0.0032957066056106886,
    "right_hip_pitch_joint": -0.13335449773377483,
    "right_hip_roll_joint": 0.008389491780315408,
    "right_hip_yaw_joint": 0.007169194314485934,
    "right_knee_joint": 0.3151589411569305,
    "right_ankle_pitch_joint": -0.22151075507341944,
    "right_ankle_roll_joint": -0.008199087491330182,
    "waist_yaw_joint": -0.001801378072867513,
    "waist_roll_joint": 0.003206504924775663,
    "waist_pitch_joint": 0.09082090179757547,
    "left_shoulder_pitch_joint": 0.26528755759252937,
    "left_shoulder_roll_joint": 0.7727812986471001,
    "left_shoulder_yaw_joint": -0.5808621956222282,
    "left_elbow_joint": 0.4811436487460163,
    "left_wrist_roll_joint": -0.7988999911944107,
    "left_wrist_pitch_joint": -1.0566088732129741,
    "left_wrist_yaw_joint": -1.5899523373973494,
    "right_shoulder_pitch_joint": 0.13523433985208883,
    "right_shoulder_roll_joint": -0.6900878699443604,
    "right_shoulder_yaw_joint": -2.210501799684148,
    "right_elbow_joint": 2.0892006176918954,
    "right_wrist_roll_joint": -1.969501461640186,
    "right_wrist_pitch_joint": -1.4548692556829679,
    "right_wrist_yaw_joint": 1.60800543540867
  },
  "previous_decision": {
    "observation_id": 14,
    "execute": true,
    "horizon_s": 8.0,
    "speed_scale": 1.0,
    "controller": "legacy",
    "reason": "两脚已恢复承重，两手夹持持续；先恢复直立、消除移动速度，再原地调整展示朝向。"
  },
  "available_controllers": [
    "legacy",
    "sonic"
  ]
}