{
  "observation_id": 46,
  "part": "burpee",
  "proposed_skill": "withdraw_hands",
  "sim_time": 136.77200000229328,
  "image": "ego_046.png",
  "gravity_body": [
    0.7667755159358545,
    -0.004520441571118916,
    -0.6418994265220247
  ],
  "body_velocity": [
    0.00024395922818511227,
    0.000906992636876898,
    7.433480279260588e-05
  ],
  "contact_summary_initialized": true,
  "contact_force_n": [
    -0.9388640992858015,
    0.0,
    202.0256751446056,
    143.83096699663523
  ],
  "gripper_m": [
    0.0604712430442771,
    0.0600801130528162
  ],
  "joint_positions": {
    "left_hip_pitch_joint": -2.5034048432804186,
    "left_hip_roll_joint": 0.2013109751678687,
    "left_hip_yaw_joint": 0.21429853691549317,
    "left_knee_joint": 2.250012146650805,
    "left_ankle_pitch_joint": -0.5385163249905389,
    "left_ankle_roll_joint": 0.23516574171197036,
    "right_hip_pitch_joint": -2.5013489768141053,
    "right_hip_roll_joint": -0.173550646103143,
    "right_hip_yaw_joint": 0.051280546475501856,
    "right_knee_joint": 2.2623940590559513,
    "right_ankle_pitch_joint": -0.6396980123461952,
    "right_ankle_roll_joint": 0.0031780245746903684,
    "waist_yaw_joint": -0.0003282371014509138,
    "waist_roll_joint": 0.0019318973852456988,
    "waist_pitch_joint": 0.38290697932201123,
    "left_shoulder_pitch_joint": -1.2577018402601776,
    "left_shoulder_roll_joint": 0.9654052285761472,
    "left_shoulder_yaw_joint": -0.9712850704137398,
    "left_elbow_joint": 1.1057474862858996,
    "left_wrist_roll_joint": -1.4786609834413902,
    "left_wrist_pitch_joint": -1.2361143706676763,
    "left_wrist_yaw_joint": -1.5796145894855873,
    "right_shoulder_pitch_joint": -1.2798942547850924,
    "right_shoulder_roll_joint": -0.9895896912756588,
    "right_shoulder_yaw_joint": 1.055716743356413,
    "right_elbow_joint": 1.0974834190359164,
    "right_wrist_roll_joint": 1.521423859963069,
    "right_wrist_pitch_joint": -1.2429310058749137,
    "right_wrist_yaw_joint": 1.5794308818219178
  },
  "previous_decision": {
    "observation_id": 45,
    "execute": true,
    "horizon_s": 8.0,
    "speed_scale": 1.0,
    "controller": "legacy",
    "reason": "蹲姿已恢复、两脚承重约149/143N，身体稳定；张开夹爪松开木杆。"
  },
  "available_controllers": [
    "legacy"
  ]
}