{
  "schema": "robot-reel.scene-motion.v1",
  "case": "baseline",
  "world": {
    "unit": "metre",
    "up": "Z"
  },
  "plan": {
    "schema": "robot-reel.scene-motion-plan.v1",
    "seconds": 6,
    "physics_timestep": 0.005,
    "sample_hz": 30,
    "forward_command_mps": 0.3,
    "base_clearance_m": 0.125,
    "command_schedule": "stand 0..1s; forward 0.3m/s 1..5s; stand 5..6s; all 13 command fields except forward remain zero",
    "spawn_rule": "XY at central heightfield grid vertex; sample the centre, edge centres and corners of a 24 cm square; base Z is the maximum interpolated proxy height plus 0.125 m. No initial terrain penetration allowed.",
    "camera": {
      "width": 960,
      "height": 540,
      "vertical_fov_degrees": 45,
      "offset_m": [
        1.2,
        -1.5,
        0.9
      ],
      "target_offset_m": [
        0.2,
        0,
        0.1
      ]
    },
    "cases": {
      "baseline": {
        "files": {
          "scene.json": {
            "sha256": "1eb2abe3e03afe7968a55b3f6ef9ed0f5e2696f3c104141d5d24fb29aa754d52",
            "bytes": 4316
          },
          "collision-heightfield.json": {
            "sha256": "1b54217fb312e49d434f943de729448a6a1d0270fc1e8f17beac75b584ea005b",
            "bytes": 74202
          },
          "edit.json": {
            "sha256": "b1e8e20d5571e07482d247e92499db36a416959bbc3bc8275861409d5069cf27",
            "bytes": 122
          }
        }
      },
      "edited": {
        "files": {
          "scene.json": {
            "sha256": "2916f0c392a09df742f008ddaf7db18d8db3392034154e4508dfb36c90343eb9",
            "bytes": 4317
          },
          "collision-heightfield.json": {
            "sha256": "62e5211778afbe3ef762338a72e026ed88adaf010d015ee63b28279be7940f80",
            "bytes": 74003
          },
          "edit.json": {
            "sha256": "29c23c06e1ba7b94c63ee3541bb08b56e30a356d377ac5baadf5900773487784",
            "bytes": 122
          }
        }
      }
    },
    "source_check": {
      "sha256": "f14f3ff15c3244c555c000bb25de9580bf2abd0d529bfc3840fca5ba0b1a5d50",
      "bytes": 17182
    },
    "scope": "Engineering registration experiment using the official policy with XML PD actuators on a captured top-surface approximation. Both recorded outcomes are retained; no robot robustness score is defined."
  },
  "plan_file": {
    "sha256": "4ac750882d942699901e865ad13716b4bfff117f2756ae0de3a39f5bc1625d26",
    "bytes": 2090
  },
  "recorder": {
    "commit": "98163de35b1e36f11791f059711ddaaf632d8a1b",
    "dirty": false,
    "files": {
      "scripts/record_scene_motion.py": {
        "sha256": "77efafd8cc4b587d91f8ea43a0a909c48e8bab0d6cb9abf330ce4daa45b566f1",
        "bytes": 17784
      },
      "robot_reel/scene_motion.py": {
        "sha256": "571a7b3a57c9f817a8905ad7828b64edec935b4f66d1f2f5d56405e44fed5cf3",
        "bytes": 7143
      },
      "robot_reel/microduck.py": {
        "sha256": "d4c10970bec825c5a8024626fc8e550752a73322707d485c4e4482f2f5f09983",
        "bytes": 10694
      }
    }
  },
  "runtime": {
    "mujoco": "3.13.0",
    "onnxruntime": "1.30.0",
    "numpy": "2.5.3",
    "imageio_ffmpeg": "0.6.0"
  },
  "graphics": {
    "renderer": "NVIDIA L40S/PCIe/SSE2",
    "vendor": "NVIDIA Corporation",
    "version": "4.6.0 NVIDIA 595.91.07"
  },
  "elapsed_seconds": 1.2634375889902003,
  "policy": {
    "revision": "088524a64e2557dc453256b6071dbb9d23888802",
    "sha256": "e36332d383997d51401897734cd3e79cf5038406feddb18b4d57ecfb141daa6c",
    "model_commit": "53b8971b61baf5b7f3c16d135dd7cac37623de4b",
    "providers": [
      "CPUExecutionProvider"
    ],
    "actuators": "XML position-actuator fallback; not BAM"
  },
  "joints": [
    "left_hip_yaw",
    "left_hip_roll",
    "left_hip_pitch",
    "left_knee",
    "left_ankle",
    "neck_pitch",
    "head_pitch",
    "head_yaw",
    "head_roll",
    "right_hip_yaw",
    "right_hip_roll",
    "right_hip_pitch",
    "right_knee",
    "right_ankle"
  ],
  "bodies": [
    "trunk_base",
    "yaw2roll",
    "hip_l",
    "upper_leg_left",
    "leg",
    "ankle_left",
    "neck",
    "neck_pitch",
    "yaw_roll_motion",
    "jaw_soft",
    "bearing_roll",
    "hip_l_2",
    "upper_leg_right",
    "leg_2",
    "ankle_right"
  ],
  "camera": {
    "name": "RecordedCamera",
    "width": 960,
    "height": 540,
    "position_m": [
      1.2,
      -1.4999990463256836,
      2.6809725401862594
    ],
    "axes_world": [
      [
        0.8320502943378437,
        0.5547001962252291,
        -5.551115123125783e-17
      ],
      [
        -0.2249953309558841,
        0.3374929964338263,
        0.9140435320082789
      ],
      [
        0.5070201265633938,
        -0.7605301898450907,
        0.4056161012507153
      ]
    ],
    "focal_px": [
      651.8376618407357,
      651.8376618407357
    ],
    "principal_px": [
      480.0,
      270.0
    ],
    "vertical_fov_degrees": 45.0,
    "convention": "camera right +X, up +Y, forward -Z; pixel origin top-left"
  },
  "initial": {
    "case": "baseline",
    "spawn_position_m": [
      0.0,
      9.5367431640625e-07,
      1.7809725401862593
    ],
    "camera": {
      "name": "RecordedCamera",
      "width": 960,
      "height": 540,
      "position_m": [
        1.2,
        -1.4999990463256836,
        2.6809725401862594
      ],
      "axes_world": [
        [
          0.8320502943378437,
          0.5547001962252291,
          -5.551115123125783e-17
        ],
        [
          -0.2249953309558841,
          0.3374929964338263,
          0.9140435320082789
        ],
        [
          0.5070201265633938,
          -0.7605301898450907,
          0.4056161012507153
        ]
      ],
      "focal_px": [
        651.8376618407357,
        651.8376618407357
      ],
      "principal_px": [
        480.0,
        270.0
      ],
      "vertical_fov_degrees": 45.0,
      "convention": "camera right +X, up +Y, forward -Z; pixel origin top-left"
    },
    "source_heightfield": {
      "sha256": "1b54217fb312e49d434f943de729448a6a1d0270fc1e8f17beac75b584ea005b",
      "bytes": 74202
    },
    "heightfield_local_to_world": "rotate +90 degrees around Z; swap X/Y extents; reindex samples",
    "compiled_vertical_span_m": 3.017024040222168,
    "compiled_heightfield_vertices": 4225,
    "max_compiled_height_error_m": 8.968947895482415e-08,
    "checked_triangle_interiors": 8192,
    "max_heightfield_ray_error_m": 8.655619510022916e-08,
    "initial_terrain_contacts": 0
  },
  "frames": [
    {
      "frame": 0,
      "physics_step": 0,
      "sim_time_s": 0.0,
      "qpos": [
        0.0,
        9.5367431640625e-07,
        1.7809725401862593,
        1.0,
        0.0,
        0.0,
        0.0,
        0.0,
        -0.0873,
        -0.4579,
        -0.0049,
        0.453,
        0.3491,
        0.3491,
        0.0,
        0.0,
        0.0,
        0.0873,
        0.4579,
        0.0049,
        -0.453
      ],
      "qvel": [
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "target_rad": [
        -0.01857474073767662,
        -0.13866713643074036,
        -0.46142175793647766,
        0.021664530038833618,
        0.32028645277023315,
        0.2281176894903183,
        0.3511368930339813,
        -0.025089319795370102,
        -0.012710094451904297,
        0.04866033419966698,
        0.16797681152820587,
        0.5111804604530334,
        0.03787438943982124,
        -0.3008841872215271
      ],
      "policy_call": 0,
      "body_poses": [
        [
          0.0,
          9.5367431640625e-07,
          1.7809725401862593,
          1.0,
          0.0,
          0.0,
          0.0
        ],
        [
          0.006,
          0.017500953674316408,
          1.7759725401862594,
          0.0,
          -0.7071067811865475,
          -0.7071067811865475,
          0.0
        ],
        [
          0.0225,
          0.017500953674316408,
          1.7634725401862594,
          -0.5213418150501135,
          -0.4777056749508561,
          -0.5213418150501135,
          -0.4777056749508561
        ],
        [
          0.004000000000000014,
          0.04240574803817829,
          1.7612928113742847,
          -0.5736577719946314,
          0.6260586795416492,
          -0.3894163658734182,
          -0.3568223428972203
        ],
        [
          -0.018366004543337314,
          0.035321455345146135,
          1.7262275076936253,
          -0.1655716635050564,
          -0.1517133692025377,
          -0.658322472171291,
          0.7184570971767636
        ],
        [
          1.592184562206056e-05,
          0.05792984754577288,
          1.6863406002635737,
          0.0,
          2.7755575615628914e-17,
          -0.7372886654760761,
          -0.6755778443380938
        ],
        [
          0.026,
          0.014500953674316407,
          1.8133940401862594,
          0.12279969423159842,
          0.12279969423159842,
          0.696362143641242,
          -0.696362143641242
        ],
        [
          0.00889738833727901,
          0.014500953674316407,
          1.8603780872055846,
          0.0,
          0.0,
          -0.7071067811865475,
          -0.7071067811865475
        ],
        [
          0.00889738833727901,
          9.536743164097194e-07,
          1.8790711872055845,
          -0.9999999999999998,
          0.0,
          0.0,
          0.0
        ],
        [
          -0.009002611662720983,
          9.536743164097194e-07,
          1.8935711872055845,
          -0.7071067811865474,
          0.0,
          0.7071067811865474,
          0.0
        ],
        [
          0.006,
          -0.017499046325683595,
          1.7759725401862594,
          0.0,
          -0.7071067811865475,
          -0.7071067811865475,
          0.0
        ],
        [
          0.0225,
          -0.017499046325683595,
          1.7634725401862594,
          0.5213418150501135,
          -0.4777056749508561,
          0.5213418150501135,
          -0.4777056749508561
        ],
        [
          0.004000000000000014,
          -0.042403840689545474,
          1.7612928113742847,
          -0.3568223428972203,
          -0.3894163658734182,
          0.6260586795416492,
          -0.5736577719946314
        ],
        [
          -0.018366004543337318,
          -0.03531954799651332,
          1.7262275076936253,
          0.3909490393685294,
          -0.35822673212003947,
          -0.572781836439585,
          -0.6251027314420545
        ],
        [
          1.59218456220675e-05,
          -0.05792794019714008,
          1.6863406002635737,
          -0.675577844338094,
          -0.7372886654760761,
          0.0,
          -2.7755575615628914e-17
        ]
      ],
      "terrain_contacts": []
    },
    {
      "frame": 1,
      "physics_step": 7,
      "sim_time_s": 0.035,
      "qpos": [
        -0.0002753880561128031,
        -3.366087077530638e-05,
        1.7741301838440446,
        0.9999969180855665,
        -0.00034031333623221006,
        -0.002447838518597439,
        0.00023683916310499688,
        -0.0007088553801060583,
        -0.09226810122604599,
        -0.4579294975797897,
        -0.0037428420586286633,
        0.43701399464327434,
        0.3366555661835263,
        0.3490951135671761,
        -0.002185849070212444,
        -0.0005798710317146646,
        0.00468430582821591,
        0.0953507575015226,
        0.4630520552974178,
        0.008518595231262948,
        -0.43498635666098845
      ],
      "qvel": [
        -0.01134829967688351,
        -0.0010747434098804778,
        -0.34220681342028275,
        -0.02369466990490217,
        -0.19453119633114432,
        0.017024611494321534,
        -0.00281145636940118,
        -0.22128853892558206,
        -0.0009746310120697642,
        0.009870490140191972,
        -0.6143844316011886,
        -0.5001622238417356,
        0.00010309092999652771,
        -0.09705581518594474,
        -0.02495949394088136,
        0.15584210455389458,
        0.31733057815182847,
        0.22302095609213898,
        0.1380767161911035,
        0.6649054253070453
      ],
      "target_rad": [
        0.012680611573159695,
        -0.13775987923145294,
        -0.46152472496032715,
        -0.01205980684608221,
        0.35869264602661133,
        0.2603611350059509,
        0.3493775427341461,
        -0.026757095009088516,
        -0.013057678937911987,
        0.02364787645637989,
        0.14488095045089722,
        0.5072100758552551,
        0.031154032796621323,
        -0.358085036277771
      ],
      "policy_call": 1,
      "body_poses": [
        [
          -0.0002753880561128031,
          -3.366087077530638e-05,
          1.7741301838440446,
          0.9999969180855665,
          -0.00034031333623221006,
          -0.002447838518597439,
          0.00023683916310499688
        ],
        [
          0.0057407582945154184,
          0.0174657878446657,
          1.7691476867047105,
          -0.001972049143902891,
          -0.7066864101616528,
          -0.707522586188071,
          -0.0014895464927214173
        ],
        [
          0.022301746833595246,
          0.01747683379623568,
          1.7567286071657342,
          -0.5236850189043629,
          -0.4747542812516782,
          -0.5216903912439423,
          -0.47770441602740243
        ],
        [
          0.003783862777120204,
          0.042346995778751256,
          1.754317588079459,
          -0.5726350828216556,
          0.6287824393305655,
          -0.3886410550990076,
          -0.35451352047964135
        ],
        [
          -0.01840073597035639,
          0.03503824280925848,
          1.7191831805441897,
          -0.1684589537569731,
          -0.15300807584095985,
          -0.6558805554432001,
          0.7197435700428814
        ],
        [
          0.0001950113388280647,
          0.057444843895630454,
          1.6792815213083991,
          -0.007193099416057058,
          0.008432852545740943,
          -0.7391468816932856,
          -0.6734530671114538
        ],
        [
          0.025558723360733955,
          0.014500722337457528,
          1.8066686849513205,
          0.12037590169383416,
          0.1199650644457054,
          0.6966114349342076,
          -0.6970297944297921
        ],
        [
          0.00881126079098879,
          0.014524937438487578,
          1.8537804871998427,
          0.0028331231436349025,
          -0.002501181872605243,
          -0.7073433650785749,
          -0.7068600154074434
        ],
        [
          0.00895911881015197,
          3.775328027278563e-05,
          1.8724829367929345,
          -0.9999924596098689,
          0.0003459020526597895,
          -0.003771547457662386,
          0.0008581986653018443
        ],
        [
          -0.00883096292308609,
          7.846048351782824e-05,
          1.8871175305641437,
          -0.7097682012472684,
          0.0006471871516985992,
          0.7044347797935216,
          0.0005680354393379559
        ],
        [
          0.005757278672592008,
          -0.01753420012191739,
          1.7691715491469113,
          -0.001968025296669907,
          -0.7085917301822036,
          -0.7056143792403973,
          -0.0014948588600982111
        ],
        [
          0.022318132334886685,
          -0.017612141100127602,
          1.7567525294118447,
          0.52337862877534,
          -0.4735095789179722,
          0.522818666763434,
          -0.4780419765019328
        ],
        [
          0.0037253436936065323,
          -0.042422105582171854,
          1.7542981714631367,
          -0.3535710843573618,
          -0.38638341900074963,
          0.6308585542192031,
          -0.5724620741989002
        ],
        [
          -0.018253726665317525,
          -0.03497538305967196,
          1.7190637043288042,
          0.3890669204075357,
          -0.3560061561620306,
          -0.5709509215900116,
          -0.6292071148317129
        ],
        [
          0.00028784192516956644,
          -0.05736922925975353,
          1.6791296851650466,
          -0.6728125519117336,
          -0.7397065473417875,
          0.010434832530702792,
          -0.006971949495536256
        ]
      ],
      "terrain_contacts": []
    },
    {
      "frame": 2,
      "physics_step": 13,
      "sim_time_s": 0.06499999999999999,
      "qpos": [
        -0.0008611521608645233,
        -0.00032790548393004526,
        1.7599026419453307,
        0.999987427954058,
        0.0005271778361907714,
        -0.00466503745703567,
        0.001761659127322725,
        0.0015281571447221818,
        -0.09824644470187192,
        -0.45691973048937595,
        0.0038627432707381178,
        0.4168434552718063,
        0.3215274215270005,
        0.35061698800766716,
        -0.005513275574945616,
        -0.0009592475361609807,
        0.008060382825481485,
        0.10601471446997536,
        0.47070562792601034,
        0.013381698550944046,
        -0.4184821519555074
      ],
      "qvel": [
        -0.05612787240868402,
        -0.05387058990698406,
        -0.3989096813561519,
        0.46500082005328847,
        0.1506901062630786,
        0.48382817656156163,
        0.22430467027498158,
        -0.06967584782270514,
        0.20640090935741148,
        1.5841151621703575,
        -1.1133510215046285,
        -0.3698347034212208,
        0.2911141407889125,
        -0.08295568063855277,
        0.05025760541828172,
        0.05505160336726337,
        0.5523056431853228,
        0.38955850340150877,
        0.2149997178612638,
        0.4078278860350478
      ],
      "target_rad": [
        0.037650927901268005,
        -0.11359162628650665,
        -0.45847994089126587,
        -0.031845591962337494,
        0.4040739834308624,
        0.2689303159713745,
        0.3675239384174347,
        -0.031162772327661514,
        -0.008333802223205566,
        0.011855654418468475,
        0.11954809725284576,
        0.4788065552711487,
        0.037961848080158234,
        -0.4207051694393158
      ],
      "policy_call": 3,
      "body_poses": [
        [
          -0.0008611521608645233,
          -0.00032790548393004526,
          1.7599026419453307,
          0.999987427954058,
          0.0005271778361907714,
          -0.00466503745703567,
          0.001761659127322725
        ],
        [
          0.005123446577989889,
          0.017198440194739394,
          1.7549770165955212,
          -0.0029231024669082385,
          -0.7063932343415907,
          -0.7078040392548488,
          -0.0036736851953415367
        ],
        [
          0.021739296948861564,
          0.01724466331304284,
          1.742631516205657,
          -0.5256608549882174,
          -0.47238006274686517,
          -0.521720200196564,
          -0.47785539084453227
        ],
        [
          0.0032132517538377217,
          0.04208984923090418,
          1.7400329808222463,
          -0.5718488916882178,
          0.6307338630145349,
          -0.3881923763234454,
          -0.3528035120092697
        ],
        [
          -0.018845492728474387,
          0.0346171757804096,
          1.7048538417228265,
          -0.1728939425039736,
          -0.1561509685158078,
          -0.653527618423807,
          0.7201570742791561
        ],
        [
          0.0001575650696931663,
          0.05688167640507523,
          1.6650646999093397,
          -0.01754631108496882,
          0.02014024213431681,
          -0.7403464713467961,
          -0.6716945734323208
        ],
        [
          0.0247839650133412,
          0.014228757439973311,
          1.7925803896016659,
          0.11761274824791892,
          0.115272851823345,
          0.6980194285513721,
          -0.6968847024055702
        ],
        [
          0.00854144349143415,
          0.01412236932141204,
          1.8398685400854669,
          0.008236863275574893,
          -0.005734921200405335,
          -0.7067164620101569,
          -0.7074256901513051
        ],
        [
          0.008961975393971826,
          -0.00039562740564656057,
          1.8585429319513902,
          -0.9999505828959949,
          -0.0004742638339774526,
          -0.009880888462861035,
          0.0009873616153001803
        ],
        [
          -0.008647976455830387,
          -0.000374485266501732,
          1.873393829192217,
          -0.7140581034195157,
          2.7037488554482343e-05,
          0.7000850882722044,
          0.0013760046500662661
        ],
        [
          0.00524693331787098,
          -0.017801323110105974,
          1.7549406898853341,
          -0.0029110882267790136,
          -0.7087012303734255,
          -0.7054931080997503,
          -0.003683212766380084
        ],
        [
          0.021862647252286226,
          -0.01786288137438838,
          1.7425950728076107,
          0.5274191152423121,
          -0.4691155745055498,
          0.5246608473346734,
          -0.4759103380967957
        ],
        [
          0.0032756593924200862,
          -0.042635393588374836,
          1.73974963419378,
          -0.3476406241433456,
          -0.3847770291863689,
          0.6367148859926539,
          -0.5706897477711496
        ],
        [
          -0.018268475573882517,
          -0.03472901860879596,
          1.7043470867198194,
          0.3890285480201727,
          -0.35145121327325796,
          -0.5683509799891509,
          -0.6341261680923145
        ],
        [
          0.0005516844003655291,
          -0.056636393950927434,
          1.6642737978085922,
          -0.6680703399747251,
          -0.7436992811842031,
          0.01925064674824173,
          -0.01492690898774357
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            0.025434789566385698,
            0.05198208579043151,
            1.6461907627193781
          ],
          "distance_m": -0.001496873543178148,
          "contact_frame": [
            -0.09605052818186434,
            0.012170976241018403,
            0.9953020463021893,
            0.0011691152917263157,
            0.9999259309255565,
            -0.012114694882418054,
            -0.995375772864409,
            2.168404344971009e-19,
            -0.09605764308258072
          ],
          "force_torque_contact_frame": [
            1.1043830093684601,
            -0.5777878566968506,
            -0.5265951526716095,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_left",
          "position_m": [
            7.442764212085277e-05,
            0.051371122965068815,
            1.6441190949156135
          ],
          "distance_m": -0.0008295291083564943,
          "contact_frame": [
            -0.17944552245623355,
            -0.005360323088059676,
            0.9837533082062805,
            -0.0009618997963343643,
            0.9999856333649957,
            0.005273311330672363,
            -0.9837674416340435,
            -1.0842021724855044e-19,
            -0.17944810052159596
          ],
          "force_torque_contact_frame": [
            15.222281432424204,
            -2.51368139986438,
            -1.9809157852104113,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            0.027363009493773613,
            -0.029377342325748883,
            1.6441759783641372
          ],
          "distance_m": -0.0004551094902961304,
          "contact_frame": [
            -0.1502456467620231,
            -0.1453963029544653,
            0.9778988499411556,
            -0.02207979257271557,
            0.9893734962526401,
            0.1437100124304932,
            -0.988402108652651,
            0.0,
            -0.15185938104375626
          ],
          "force_torque_contact_frame": [
            6.384585914364895,
            1.168261633838559,
            0.4617833346168472,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            0.027115010449248262,
            -0.029092654953225307,
            1.644172370196739
          ],
          "distance_m": -0.000470948203295741,
          "contact_frame": [
            -0.18277733484939887,
            -0.1756066830853992,
            0.9673441676678961,
            -0.032603567689912294,
            0.9844604069518207,
            0.17255351204233757,
            -0.9826135828692987,
            0.0,
            -0.18566245382618418
          ],
          "force_torque_contact_frame": [
            6.676547536608521,
            1.2508402135261476,
            0.4048309312729781,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 3,
      "physics_step": 20,
      "sim_time_s": 0.10000000000000002,
      "qpos": [
        -0.004621935355992937,
        -0.003951776915176784,
        1.7569144221966317,
        0.9999283067708427,
        0.01177894706290761,
        -0.0019196689745710704,
        -0.0009760099964780247,
        0.011501806044200777,
        -0.08696167235529573,
        -0.45124938854987623,
        0.07228631239821437,
        0.4044851912439489,
        0.3078088983677354,
        0.3769987920202978,
        -0.00856044367552066,
        -6.851361728665983e-05,
        0.010880918262682521,
        0.12220356110019309,
        0.4853575669644532,
        -0.02225745646872001,
        -0.391173352634393
      ],
      "qvel": [
        -0.10551489156210617,
        -0.11993595924716662,
        -0.0077369052923717575,
        0.7774634662645311,
        -0.21055434248084898,
        -0.2532052181559886,
        0.39683244224923037,
        0.3303203050707654,
        0.14766506415853056,
        1.4172860240582723,
        0.4116121136573039,
        -0.5497933310280861,
        0.8192352498690142,
        -0.2227769544325464,
        -0.02802783078964552,
        0.10045491893930199,
        0.3976338492702519,
        0.19723754617085323,
        -0.9997190997017593,
        0.10508288942517716
      ],
      "target_rad": [
        0.10469897091388702,
        -0.04769250750541687,
        -0.4338579773902893,
        -0.08763021975755692,
        0.5728471279144287,
        0.29222482442855835,
        0.34292805194854736,
        -0.10404247045516968,
        -0.06178963929414749,
        0.0413680225610733,
        0.18605008721351624,
        0.3759060800075531,
        0.08295131474733353,
        -0.5985329747200012
      ],
      "policy_call": 5,
      "body_poses": [
        [
          -0.004621935355992937,
          -0.003951776915176784,
          1.7569144221966317,
          0.9999283067708427,
          0.01177894706290761,
          -0.0019196689745710704,
          -0.0009760099964780247
        ],
        [
          0.0014306857605249877,
          0.01364911338752507,
          1.7523510420708766,
          0.007027152258989279,
          -0.7117967457777034,
          -0.7022841048873235,
          -0.009646131556831077
        ],
        [
          0.017977355188536628,
          0.013720846491852838,
          1.739913092673896,
          -0.5197581710790575,
          -0.486515994259788,
          -0.51139981088521,
          -0.4812731701981056
        ],
        [
          -0.00017852539406000567,
          0.038918002241974864,
          1.7382646563316055,
          -0.5830229692700691,
          0.6158857764484186,
          -0.39030993563437494,
          -0.358367244341794
        ],
        [
          -0.022738053547482772,
          0.032988604118707236,
          1.7031091331268413,
          -0.18511185102803335,
          -0.1828057776205785,
          -0.6594883715291381,
          0.7052593410195688
        ],
        [
          -0.001288790036188106,
          0.05634606633266527,
          1.665236213332527,
          -0.046610668415360934,
          0.03967587614700771,
          -0.7280679640928781,
          -0.6827666586056265
        ],
        [
          0.021280256374029718,
          0.009728641191311308,
          1.7897675238198092,
          0.10777256312281569,
          0.11169015788668975,
          0.7066153726317538,
          -0.6903659163296471
        ],
        [
          0.005947807691041708,
          0.00863662017115398,
          1.8373461272826588,
          0.02269744272146186,
          -0.023500737570296207,
          -0.6983321123401004,
          -0.715027833236002
        ],
        [
          0.007140470028600529,
          -0.006301124616175203,
          1.855652501167926,
          -0.9993848159440586,
          -0.011665727541725209,
          -0.03271727800679712,
          0.004845635274003165
        ],
        [
          -0.009773790267935902,
          -0.006484116930204265,
          1.8712900940911996,
          -0.7298059891228589,
          -0.004845949290065297,
          0.6835370056226595,
          0.011700297444609507
        ],
        [
          0.0013639527764491947,
          -0.021341107879215268,
          1.7515264437362978,
          0.007024157337803769,
          -0.7115786916714146,
          -0.7025050439935043,
          -0.00964831262845934
        ],
        [
          0.01791075638437648,
          -0.02125913385926757,
          1.7390887361251366,
          0.5330504233724066,
          -0.45798116225690993,
          0.5370972979068315,
          -0.466515802241991
        ],
        [
          -0.0008931181540852394,
          -0.04575379738907595,
          1.7353906608280034,
          -0.3400738859985244,
          -0.38564698611174464,
          0.6510920786051219,
          -0.5583057042001742
        ],
        [
          -0.02202900073103446,
          -0.0362710944753977,
          1.7001294399535878,
          0.37837742820504444,
          -0.3338397231753523,
          -0.5620556436072801,
          -0.6553434325179026
        ],
        [
          -0.0017346956627386674,
          -0.05692547717067987,
          1.660110223853422,
          -0.6527769518867441,
          -0.7550754194836775,
          0.050056004744271465,
          -0.03518179026202564
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            0.00013710439527396987,
            0.027212539466258418,
            1.6433239839050868
          ],
          "distance_m": -0.0024657992325748633,
          "contact_frame": [
            -0.11120483246383142,
            0.0008990089340673301,
            0.9937971005288895,
            9.997417829687167e-05,
            0.9999995958913865,
            -0.0008934328330695835,
            -0.99379750213102,
            -1.3552527156068805e-20,
            -0.11120487740268023
          ],
          "force_torque_contact_frame": [
            4.453360905689984,
            -0.2847094881787371,
            -0.6692824516979535,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_left",
          "position_m": [
            0.0001313247513986091,
            0.036752537287055555,
            1.6434519848448825
          ],
          "distance_m": -0.0021928215666785025,
          "contact_frame": [
            -0.11977696078348367,
            0.0005307421446289474,
            0.9928006839130642,
            6.357068999688969e-05,
            0.9999998591563781,
            -0.0005269212383826012,
            -0.9928008237427283,
            1.3552527156068805e-20,
            -0.11977697765330704
          ],
          "force_torque_contact_frame": [
            0.07662551654121276,
            0.0,
            0.07662551654121276,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            0.02658572037680535,
            -0.02821347936608004,
            1.6437505583541125
          ],
          "distance_m": -0.0014153582780583236,
          "contact_frame": [
            -0.2771532034181968,
            -0.2630283401794036,
            0.9241223912975487,
            -0.07555974882789286,
            0.9647881074424931,
            0.2519417236080554,
            -0.9578501063277579,
            0.0,
            -0.2872684699160397
          ],
          "force_torque_contact_frame": [
            1.8429577355617872,
            0.5867068356853194,
            -0.6118078521559915,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            0.026618395455234034,
            -0.028140503139989823,
            1.6438435024134357
          ],
          "distance_m": -0.0013164492247263275,
          "contact_frame": [
            -0.3805451814246579,
            -0.3582222461025774,
            0.852562131044828,
            -0.1460094720433197,
            0.9336363437641149,
            0.3271152880505687,
            -0.9131629640804018,
            0.0,
            -0.4075946528499788
          ],
          "force_torque_contact_frame": [
            0.8078584907781459,
            0.0781441079778401,
            -0.007992884509539139,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 4,
      "physics_step": 27,
      "sim_time_s": 0.13500000000000004,
      "qpos": [
        -0.008237276310826182,
        -0.008391601980867849,
        1.756370624354969,
        0.9995802871958854,
        0.026619807598336417,
        -0.009637914475160091,
        -0.006143768988841393,
        0.029785286101326015,
        -0.07507769898754985,
        -0.4487662162105388,
        0.10482069001620681,
        0.4300768209186769,
        0.28905494140056276,
        0.4002091114726236,
        -0.023915318395977117,
        -0.00683458368596233,
        0.01735050368123321,
        0.13843431873811776,
        0.4881081962310983,
        -0.053202395834578045,
        -0.3954677781987866
      ],
      "qvel": [
        -0.10511325259895574,
        -0.12913449758962345,
        -0.030902917243814637,
        0.8812209593621568,
        -0.5219863505295868,
        -0.40529640359759417,
        0.5306897719926034,
        0.3483613606099209,
        0.1163889220038613,
        0.8295149401222899,
        0.7173794181327763,
        -0.4304574078511106,
        0.5179812715258338,
        -0.5475263953568164,
        -0.2771371634871157,
        0.23484483058444588,
        0.5378865705566738,
        0.08475788874931742,
        -0.8177791172177467,
        -0.024576191408806056
      ],
      "target_rad": [
        0.07752504199743271,
        -0.02986450120806694,
        -0.35838913917541504,
        0.06551025807857513,
        0.4917709231376648,
        0.34313154220581055,
        0.32935255765914917,
        -0.10935914516448975,
        -0.0597376823425293,
        0.06344372779130936,
        0.18148812651634216,
        0.4418901205062866,
        0.09041009098291397,
        -0.4924084544181824
      ],
      "policy_call": 6,
      "body_poses": [
        [
          -0.008237276310826182,
          -0.008391601980867849,
          1.756370624354969,
          0.9995802871958854,
          0.026619807598336417,
          -0.009637914475160091,
          -0.006143768988841393
        ],
        [
          -0.0019349076987180275,
          0.009270996637693566,
          1.7524256579524877,
          0.012388484853244794,
          -0.7215366220386297,
          -0.6917972242681236,
          -0.025456413632793478
        ],
        [
          0.014792616841019901,
          0.009233049026845245,
          1.7402318692569552,
          -0.5201244813298715,
          -0.5009146302293984,
          -0.49031887832750654,
          -0.4879984166973627
        ],
        [
          -0.002615614769120665,
          0.03499117583687131,
          1.739381942526984,
          -0.6032935682151188,
          0.6001116446231706,
          -0.38787539211906785,
          -0.35419707046561283
        ],
        [
          -0.02487251381199432,
          0.031187197522190128,
          1.7037426232519648,
          -0.18646537933178453,
          -0.2113640495002409,
          -0.666891245072997,
          0.6897912496795684
        ],
        [
          -0.0011127390054999874,
          0.05543655903585064,
          1.667861687264668,
          -0.06419139688976541,
          0.03497967150950543,
          -0.7136930211266844,
          -0.6966334464705906
        ],
        [
          0.01729129115305848,
          0.0040325264299551095,
          1.7900059768687049,
          0.10153218720264369,
          0.11555217452718552,
          0.7164604266854888,
          -0.6804582036521666
        ],
        [
          0.002103594154761494,
          0.0016700936255045666,
          1.8375848878601555,
          0.02916570618635418,
          -0.035749709163522866,
          -0.6870619406213749,
          -0.725132546247212
        ],
        [
          0.003641910440659021,
          -0.013821250418288022,
          1.8553987540977637,
          -0.9984452394637352,
          -0.026369189888193936,
          -0.04622074108041653,
          0.016595562985986072
        ],
        [
          -0.01284612145406602,
          -0.014057448433390069,
          1.8714844314144385,
          -0.7385822663443867,
          -0.009211899007967504,
          0.6732968516700194,
          0.03290480648014972
        ],
        [
          -0.002346831864612757,
          -0.02567675815852919,
          1.7505589085893858,
          0.01222997394700298,
          -0.7172215299701578,
          -0.6962698998199355,
          -0.02553294517400172
        ],
        [
          0.01438794050955838,
          -0.02550995820671058,
          1.738376151456423,
          0.5436470337847841,
          -0.4374732382946494,
          0.5473672854887723,
          -0.46201095572470036
        ],
        [
          -0.004753918024877301,
          -0.049484259224813434,
          1.7332700626850597,
          -0.32999403423109064,
          -0.3826562958174357,
          0.6700980014069498,
          -0.5437340941614567
        ],
        [
          -0.025070189273489172,
          -0.038026794166079896,
          1.6981136052214483,
          0.36469760810979823,
          -0.3154150128399196,
          -0.5523189273027709,
          -0.6800388421680789
        ],
        [
          -0.0032788147896135496,
          -0.05734042020445099,
          1.6582122287119412,
          -0.6345327221223964,
          -0.7681492684680691,
          0.07351104386607199,
          -0.04371558460814297
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            7.098577419222512e-05,
            0.026923863659668746,
            1.6440539033847394
          ],
          "distance_m": -0.0010013112317333083,
          "contact_frame": [
            -0.14178563456109977,
            0.000878722758206372,
            0.9898969954891369,
            0.00012459031197701388,
            0.9999996139230827,
            -0.0008698453540436279,
            -0.9898973776656651,
            0.0,
            -0.14178568930128166
          ],
          "force_torque_contact_frame": [
            1.492669151072342,
            -0.11873985360501887,
            -0.29361286433645273,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_left",
          "position_m": [
            7.246978126531474e-05,
            0.026984161807237776,
            1.644055357116208
          ],
          "distance_m": -0.0009987503424388052,
          "contact_frame": [
            -0.14512091397807278,
            0.0008554696900804001,
            0.9894135578704075,
            0.00012414658873201377,
            0.9999996340857379,
            -0.0008464136194275589,
            -0.9894139199110722,
            -2.710505431213761e-20,
            -0.14512096707990443
          ],
          "force_torque_contact_frame": [
            1.4465147596605572,
            -0.11825057634318914,
            -0.27014071608384094,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            0.026057052105754906,
            -0.028779498529197235,
            1.6438409590135103
          ],
          "distance_m": -0.0006240647105654389,
          "contact_frame": [
            -0.2975206795099042,
            -0.28190122767230025,
            0.9121475445895882,
            -0.08741676901093243,
            0.959443431285477,
            0.26800487058790434,
            -0.9507048720605434,
            0.0,
            -0.31009715613069694
          ],
          "force_torque_contact_frame": [
            2.7856399571666746,
            0.7937605657602302,
            -0.34271357351053144,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            0.02573341510247513,
            -0.027557715561349144,
            1.6442631675498847
          ],
          "distance_m": -0.00034559605080077314,
          "contact_frame": [
            -0.3894230915092664,
            -0.3663911476431268,
            0.8450486274340181,
            -0.153344616715778,
            0.9304609217633767,
            0.33275802258629117,
            -0.9082043185999815,
            0.0,
            -0.41852707878504514
          ],
          "force_torque_contact_frame": [
            0.5144335329763612,
            0.3408438109092561,
            -0.12020111151820795,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 5,
      "physics_step": 33,
      "sim_time_s": 0.16500000000000006,
      "qpos": [
        -0.011501562462717843,
        -0.01214810369033284,
        1.754774996653307,
        0.9988828787071203,
        0.03973963568177539,
        -0.017084500899625765,
        -0.019023033687266076,
        0.039197238123091456,
        -0.06385524011306705,
        -0.4348806693958077,
        0.1374146455465745,
        0.43885297840508186,
        0.2853793899944159,
        0.40871232987586914,
        -0.0439950734934455,
        -0.013037681817190123,
        0.02305611374529431,
        0.15956074511464713,
        0.49604058852084837,
        -0.07353688983182236,
        -0.3833348254362752
      ],
      "qvel": [
        -0.11043295898146704,
        -0.12034005323322464,
        -0.06647969545958649,
        0.8410751939691904,
        -0.5098063638239663,
        -1.3059855364929607,
        0.09766323805038901,
        0.40138291775582874,
        0.8216307680447383,
        1.3049903045630271,
        -0.11436263441618134,
        0.14756836453528266,
        0.08178580805567044,
        -0.8216058421619552,
        -0.09010115368872249,
        0.10089441073170372,
        0.8565956385968742,
        0.43285060585886176,
        -0.5109555674844346,
        0.7855723642690259
      ],
      "target_rad": [
        -0.05023114010691643,
        -0.04893145710229874,
        -0.01801121234893799,
        0.16877196729183197,
        0.31468790769577026,
        0.540027916431427,
        0.20478564500808716,
        -0.25487616658210754,
        0.039312250912189484,
        0.009225692600011826,
        0.25657325983047485,
        0.5901864767074585,
        0.2347477525472641,
        -0.36418330669403076
      ],
      "policy_call": 8,
      "body_poses": [
        [
          -0.011501562462717843,
          -0.01214810369033284,
          1.754774996653307,
          0.9988828787071203,
          0.03973963568177539,
          -0.017084500899625765,
          -0.019023033687266076
        ],
        [
          -0.004689893917475552,
          0.005441491156360001,
          1.7513901296309629,
          0.016803959374655206,
          -0.7332082826059421,
          -0.6786269192295097,
          -0.03985907380314407
        ],
        [
          0.012197714730994989,
          0.005132703884939823,
          1.7394229526640625,
          -0.522534136992943,
          -0.5156499346530831,
          -0.46837645823415675,
          -0.491616429690199
        ],
        [
          -0.004290499022177766,
          0.03150271259351688,
          1.7393159576209303,
          -0.6210227804932158,
          0.5815323659394729,
          -0.391229876047193,
          -0.35084184123535195
        ],
        [
          -0.026622412585066903,
          0.029862966734993508,
          1.7035584723269517,
          -0.18146962361725777,
          -0.2377753755373835,
          -0.6724746554636785,
          0.6769855864427793
        ],
        [
          -0.0008466804567714946,
          0.05453289336294591,
          1.6693969976307124,
          -0.08569661293142469,
          0.029759041332626218,
          -0.7002536026369489,
          -0.7081069001111474
        ],
        [
          0.013840212905553172,
          -0.0012806778074612637,
          1.7890838459215992,
          0.09508965422119142,
          0.12971090090406748,
          0.7233224197488854,
          -0.6715189624540521
        ],
        [
          -0.001927517959693533,
          -0.004504414332590123,
          1.8364229015329832,
          0.019776854761494933,
          -0.04316487120051403,
          -0.6768430786892302,
          -0.7345945253951124
        ],
        [
          -0.0008234656709611341,
          -0.020499362293794926,
          1.853819013048839,
          -0.9974318778353488,
          -0.03984760490115006,
          -0.045393982150625754,
          0.03848641118629072
        ],
        [
          -0.017328098012834383,
          -0.020393121053776466,
          1.869889041799856,
          -0.7370124900736432,
          -0.005350892269431223,
          0.6731718738821337,
          0.06019622613906436
        ],
        [
          -0.005972493474156146,
          -0.029422630831804915,
          1.7485887127802318,
          0.016481730481472376,
          -0.7277075630514146,
          -0.684522157320464,
          -0.03999339164719158
        ],
        [
          0.010933147794146367,
          -0.029466581132517156,
          1.7366431126831863,
          0.550760325968846,
          -0.41236341473397853,
          0.5608689074851427,
          -0.460484034624487
        ],
        [
          -0.00885309719887481,
          -0.052558651436799275,
          1.7301230821511844,
          -0.3220740638788867,
          -0.3731320111198963,
          0.6926688066036295,
          -0.526546032187561
        ],
        [
          -0.02795867251943922,
          -0.038792848455631655,
          1.6951162179048125,
          0.34741720076684646,
          -0.3025004626337603,
          -0.5380296429958912,
          -0.7059170361844254
        ],
        [
          -0.00516812561858971,
          -0.05707809811106898,
          1.6552885815576917,
          -0.6151869047784861,
          -0.7794709162330734,
          0.10697038894407965,
          -0.0502742361950016
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            3.8960728660174895e-05,
            0.026904176298944593,
            1.6443151992018081
          ],
          "distance_m": -0.0004750738965314699,
          "contact_frame": [
            -0.16401965649818342,
            0.0008614828241300097,
            0.9864566945028869,
            0.00014130016932604688,
            0.999999628923603,
            -0.0008498158144088916,
            -0.9864570605538187,
            2.710505431213761e-20,
            -0.16401971736202917
          ],
          "force_torque_contact_frame": [
            0.6937867796038418,
            0.10455664386974921,
            -0.5892301357340927,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_left",
          "position_m": [
            3.8960728660174895e-05,
            0.026904176298944593,
            1.6443151992018081
          ],
          "distance_m": -0.0004750738965314699,
          "contact_frame": [
            -0.16401965649818342,
            0.0008614828241300097,
            0.9864566945028869,
            0.00014130016932604688,
            0.999999628923603,
            -0.0008498158144088916,
            -0.9864570605538187,
            2.710505431213761e-20,
            -0.16401971736202917
          ],
          "force_torque_contact_frame": [
            0.6937867796038418,
            0.10455664386974921,
            -0.5892301357340927,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            0.022423386979039336,
            -0.028232907393221738,
            1.6428704039625979
          ],
          "distance_m": -0.0005694586747498117,
          "contact_frame": [
            -0.2936450404547598,
            -0.2783144052992452,
            0.9145018764438103,
            -0.08508744756647305,
            0.9604900269148697,
            0.2649887440320725,
            -0.9521201166254943,
            0.0,
            -0.3057241951777039
          ],
          "force_torque_contact_frame": [
            4.903958570560135,
            1.2521614310828335,
            -0.11899463835095525,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            0.025750580043005566,
            -0.0276522755866623,
            1.6443541626949
          ],
          "distance_m": -0.00013620150228795992,
          "contact_frame": [
            -0.4345724966111378,
            -0.40813188071647405,
            0.8028543536233683,
            -0.19428023412564557,
            0.912922980290689,
            0.35892453619841946,
            -0.8794327352431492,
            0.0,
            -0.4760231760983419
          ],
          "force_torque_contact_frame": [
            0.4898726762490118,
            0.4898726762490118,
            0.0,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 6,
      "physics_step": 40,
      "sim_time_s": 0.2000000000000001,
      "qpos": [
        -0.015067053568737302,
        -0.016573304768533238,
        1.7530986869216267,
        0.9969062906680564,
        0.050998041745294084,
        -0.023233487868826876,
        -0.05511127294892638,
        0.029063137686803985,
        -0.05027425772925927,
        -0.377133908401017,
        0.178416488124289,
        0.41031889870333066,
        0.31291203869469053,
        0.39715238573480155,
        -0.09277391962542118,
        -0.005176123833601577,
        0.01706024730433076,
        0.19741120301376489,
        0.5187419418838372,
        -0.07593192625693305,
        -0.34717642887783207
      ],
      "qvel": [
        -0.09144059817011231,
        -0.13989601365435478,
        -0.02761842574894461,
        0.34932841442290125,
        -0.26673403594976836,
        -2.5133003149886552,
        -0.5765630725778125,
        0.19282159993788064,
        2.4472982688255778,
        0.6253109858765742,
        -1.2375845638563616,
        1.3477014743348006,
        -0.7071445105556959,
        -1.947063266535171,
        0.4889892430744856,
        -0.4072287420558258,
        1.3546552451248595,
        0.8490462680880112,
        0.2663850749855312,
        1.024341068260021
      ],
      "target_rad": [
        -0.0957065299153328,
        -0.11973629146814346,
        0.09125089645385742,
        -0.10066364705562592,
        0.18575650453567505,
        0.6853787899017334,
        0.13912980258464813,
        -0.6205756068229675,
        0.11203335970640182,
        -0.15301929414272308,
        0.3222609758377075,
        0.60981285572052,
        0.30988961458206177,
        -0.3110020160675049
      ],
      "policy_call": 10,
      "body_poses": [
        [
          -0.015067053568737302,
          -0.016573304768533238,
          1.7530986869216267,
          0.9969062906680564,
          0.050998041745294084,
          -0.023233487868826876,
          -0.05511127294892638
        ],
        [
          -0.006968799434336733,
          0.0005514541585666909,
          1.7501985297425457,
          0.020393161148181887,
          -0.7534871648613467,
          -0.6550698414434939,
          -0.052198794993658315
        ],
        [
          0.010003995125654976,
          -0.0005349813227459206,
          1.7383983643721257,
          -0.5307820929580122,
          -0.5363284654257718,
          -0.4399135210357865,
          -0.48692734671513893
        ],
        [
          -0.004829207216781083,
          0.02679184367746476,
          1.7390844719994036,
          -0.6345763027773287,
          0.5480910577431818,
          -0.4146581908033292,
          -0.3535076988908813
        ],
        [
          -0.028761968354106174,
          0.02804721769466552,
          1.704362031635416,
          -0.15462557374800462,
          -0.26020068065397,
          -0.6781964191949708,
          0.6696537573413818
        ],
        [
          -0.0016332476245269796,
          0.052399715497177535,
          1.6710305395842768,
          -0.116579494737902,
          0.014958793759227512,
          -0.6871109497509109,
          -0.7169825650797412
        ],
        [
          0.010621747538388364,
          -0.008368950228464591,
          1.7878862957286343,
          0.08195479545281113,
          0.17017989451897797,
          0.7232976560314844,
          -0.6642008098332594
        ],
        [
          -0.007130768493485465,
          -0.011356559000299773,
          1.834533078772747,
          -0.024147988229628103,
          -0.05068509724155219,
          -0.6673157612393731,
          -0.7426557549656448
        ],
        [
          -0.008095648586924502,
          -0.027715893752575434,
          1.851595410397653,
          -0.9934742798874946,
          -0.05234599597537976,
          -0.02121469090131238,
          0.0990892970876821
        ],
        [
          -0.025167236935870477,
          -0.025800492217886283,
          1.8669431173340343,
          -0.7172139173840852,
          0.03127312630694441,
          0.6875745878508146,
          0.10893747942442131
        ],
        [
          -0.010731713295706737,
          -0.034053882154679915,
          1.7465500810422065,
          0.020079527568838504,
          -0.7495422534483828,
          -0.6595800293179855,
          -0.05232024266971568
        ],
        [
          0.006266902154088632,
          -0.0349450690336938,
          1.7347707407068291,
          0.5517697999579261,
          -0.3736785661339664,
          0.583871044289896,
          -0.4636906519504995
        ],
        [
          -0.014859864387841,
          -0.05625821177161026,
          1.7266062026233855,
          -0.31692939801270537,
          -0.3481538162166935,
          0.7264159081492003,
          -0.5006641642027413
        ],
        [
          -0.03161563677077464,
          -0.03915204592222344,
          1.6918697078924172,
          0.3203304748184079,
          -0.2976973810768866,
          -0.5123330146901411,
          -0.7391072576163003
        ],
        [
          -0.008586955337213788,
          -0.056725612660195976,
          1.6518590895075735,
          -0.5903833377091636,
          -0.7890222770996269,
          0.1622806137497458,
          -0.05056049047342201
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_right",
          "position_m": [
            0.0012460619605565583,
            -0.023372186080615802,
            1.6375406758705306
          ],
          "distance_m": -0.0005860702242633089,
          "contact_frame": [
            -0.2947193792241504,
            -0.2847142992426423,
            0.9121832356037369,
            -0.08753362668757654,
            0.9586124179285239,
            0.27092452157777974,
            -0.9515662623846284,
            1.3877787807814457e-17,
            -0.30744373191097685
          ],
          "force_torque_contact_frame": [
            4.35578715317766,
            1.1319347924764944,
            -0.6759292940293692,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            3.342894365244206e-05,
            -0.0259964306084473,
            1.6365571969752608
          ],
          "distance_m": -0.00021202842286380163,
          "contact_frame": [
            -0.31532511727365703,
            -0.27559459023321425,
            0.908084628352744,
            -0.09040284071498834,
            0.9612739577426338,
            0.26034535631824457,
            -0.9446678764555376,
            0.0,
            -0.3280283573000742
          ],
          "force_torque_contact_frame": [
            2.344916945442621,
            0.5224079675506146,
            -0.9825259657412584,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 7,
      "physics_step": 47,
      "sim_time_s": 0.23500000000000013,
      "qpos": [
        -0.018065812761102036,
        -0.022080065665478384,
        1.7521203108915164,
        0.993263101540533,
        0.05367198793936706,
        -0.022521102766117528,
        -0.10020243888706305,
        0.0031307573804851265,
        -0.05989891527718725,
        -0.2741018747223899,
        0.14900277666907097,
        0.3515104460498795,
        0.3828117652961211,
        0.3659881028828281,
        -0.208469013376225,
        0.01804528340592268,
        -0.018748639580282434,
        0.25949464746284573,
        0.5547046984654893,
        -0.059298871892928665,
        -0.3155634505823142
      ],
      "qvel": [
        -0.09007923635933936,
        -0.1704162963805769,
        -0.032486998352650634,
        -0.053933920695370105,
        -0.014978941500164697,
        -2.553765320140089,
        -0.8060328244285555,
        -0.5553133288777805,
        2.9587586876476175,
        -1.8420517717313922,
        -2.026014718826824,
        2.375912654098476,
        -0.7835893876162622,
        -4.382422021762591,
        0.6461268793366135,
        -1.5858732918491985,
        2.0770095313354213,
        1.0843591666637045,
        0.5193237798860671,
        0.9112584638897996
      ],
      "target_rad": [
        -0.0953727513551712,
        -0.12970995903015137,
        0.006423860788345337,
        -0.2148161083459854,
        0.08885428309440613,
        0.70291668176651,
        0.26293230056762695,
        -0.8719092607498169,
        0.06116330623626709,
        -0.2951236367225647,
        0.3779146373271942,
        0.6274362802505493,
        0.255328506231308,
        -0.24692845344543457
      ],
      "policy_call": 11,
      "body_poses": [
        [
          -0.018065812761102036,
          -0.022080065665478384,
          1.7521203108915164,
          0.993263101540533,
          0.05367198793936706,
          -0.022521102766117528,
          -0.10020243888706305
        ],
        [
          -0.008473758911676763,
          -0.005730604345382254,
          1.749302933122667,
          0.022111312485492987,
          -0.7741844707177331,
          -0.6302781314152809,
          -0.05384210452178175
        ],
        [
          0.008361615218896692,
          -0.007828859659163908,
          1.7374425999687542,
          -0.5460433117102942,
          -0.5506080116073951,
          -0.42428003874534514,
          -0.46760449956395167
        ],
        [
          -0.004670017009001937,
          0.020401996217410744,
          1.738109936430267,
          -0.6258807156669606,
          0.511453784709058,
          -0.46111117947007346,
          -0.3661486529139657
        ],
        [
          -0.032007842021747834,
          0.023663582416710276,
          1.7061411037420529,
          -0.08668661573381697,
          -0.23536105381886965,
          -0.6858547080976913,
          0.6831500013746024
        ],
        [
          -0.008204503348971805,
          0.04723323091051357,
          1.6698385867782433,
          -0.11181234828439322,
          -0.03409880275851898,
          -0.6877832255703371,
          -0.716442255206676
        ],
        [
          0.008437718151080902,
          -0.016503537329770335,
          1.7868171240471653,
          0.07246744720003294,
          0.22602705209491897,
          0.7102667430982347,
          -0.6627076236668908
        ],
        [
          -0.012418704635988383,
          -0.01747657505527667,
          1.8322490822496438,
          -0.09300274066510303,
          -0.04933837507190758,
          -0.6648297903337145,
          -0.7395387514247461
        ],
        [
          -0.016615007342170217,
          -0.03344693769973197,
          1.849190763046208,
          -0.977176548950878,
          -0.05575294767897585,
          0.025211340108850455,
          0.20342563588563012
        ],
        [
          -0.03405412499169779,
          -0.027711397511221307,
          1.8631062491804369,
          -0.6747671847029069,
          0.11081122795198162,
          0.7078242883990865,
          0.1771860461780598
        ],
        [
          -0.015356063212915957,
          -0.03982611957200273,
          1.7454132378985605,
          0.021520984750416257,
          -0.7672432299537816,
          -0.6387095926404448,
          -0.054080768989890844
        ],
        [
          0.001547535813692916,
          -0.041572143992416793,
          1.7335929274681638,
          0.5539838104852869,
          -0.33775778872578466,
          0.606539034255462,
          -0.45949103777954303
        ],
        [
          -0.020578295723862307,
          -0.06115412251243957,
          1.723885008225963,
          -0.3067115370920619,
          -0.32399812005183903,
          0.7588421092348832,
          -0.47445959203018795
        ],
        [
          -0.03470946666249509,
          -0.04090578806092458,
          1.6896751288889538,
          0.3013597747006832,
          -0.29251133530856877,
          -0.48334355294223763,
          -0.7681135428681919
        ],
        [
          -0.011634560571707604,
          -0.057227325052121955,
          1.6491639435305085,
          -0.5630001769247741,
          -0.7986973552028414,
          0.20711992501243898,
          -0.04706030426485311
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_right",
          "position_m": [
            0.0001366921103293635,
            -0.024318750577280755,
            1.6368183866060637
          ],
          "distance_m": -0.0007313790285169215,
          "contact_frame": [
            -0.3737928078319438,
            -0.2700046658355806,
            0.8873423337360437,
            -0.10481887869924827,
            0.9628590137849968,
            0.24882829871462742,
            -0.9215703659956436,
            -1.3877787807814457e-17,
            -0.38821136062544104
          ],
          "force_torque_contact_frame": [
            3.313488144553363,
            0.764962845077386,
            -0.9053265900024949,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            0.0001239218678279206,
            -0.024971860213993707,
            1.636652299748602
          ],
          "distance_m": -0.0006638466056875825,
          "contact_frame": [
            -0.3733448865030678,
            -0.2699759834110966,
            0.8875396126952435,
            -0.10468127682925384,
            0.9628670564419634,
            0.2488551022185115,
            -0.921767555299821,
            -1.3877787807814457e-17,
            -0.38774292256157483
          ],
          "force_torque_contact_frame": [
            2.8952504809849535,
            0.7051129702462032,
            -0.9575819493700388,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 8,
      "physics_step": 53,
      "sim_time_s": 0.2650000000000001,
      "qpos": [
        -0.020634636141318833,
        -0.027314154332502245,
        1.75140254623983,
        0.9883617057048362,
        0.058049743007532136,
        -0.025818130047562435,
        -0.1382200788374586,
        -0.028987694808096695,
        -0.06079416523270572,
        -0.21634446765982843,
        0.08411313025196798,
        0.25765542602750136,
        0.4617751986116445,
        0.3601874405619161,
        -0.38005577561133613,
        0.034449632970718486,
        -0.09092097440818714,
        0.310880554721794,
        0.5769166430508965,
        -0.03592293033837477,
        -0.2781697912037509
      ],
      "qvel": [
        -0.08343297350845968,
        -0.18096780376095978,
        -0.019094691603037804,
        0.474540104236028,
        -0.48125519444503234,
        -2.50495451427791,
        -1.4077597166967502,
        0.24897764116360604,
        1.22675950756761,
        -2.6167868662311666,
        -4.018704771964871,
        2.8903285331430832,
        0.27436765217876274,
        -6.856126886374949,
        0.49937999236805747,
        -3.142100550996302,
        1.50562865256967,
        0.5155211319195598,
        0.9781001644356403,
        1.7662449367880764
      ],
      "target_rad": [
        -0.35946139693260193,
        -0.32771414518356323,
        -0.1642966866493225,
        -0.5578761100769043,
        -0.3311174511909485,
        0.8626135587692261,
        0.48810243606567383,
        -1.535079002380371,
        0.08497780561447144,
        -0.7005288004875183,
        0.6640523076057434,
        0.6311405897140503,
        0.2771582007408142,
        0.2225518822669983
      ],
      "policy_call": 13,
      "body_poses": [
        [
          -0.020634636141318833,
          -0.027314154332502245,
          1.75140254623983,
          0.9883617057048362,
          0.058049743007532136,
          -0.025818130047562435,
          -0.1382200788374586
        ],
        [
          -0.009807535225256733,
          -0.01172003046641913,
          1.748785833301301,
          0.02192929185216121,
          -0.7878174083642852,
          -0.6126233611084282,
          -0.0596276333695721
        ],
        [
          0.0070011140864897625,
          -0.014473878368559555,
          1.7370220911226149,
          -0.5557616284578455,
          -0.5604286267856871,
          -0.40824839373050104,
          -0.45867419333276
        ],
        [
          -0.004757213039939411,
          0.014307335569216746,
          1.737817997810506,
          -0.6269476581019878,
          0.48613860065983444,
          -0.48322241747662037,
          -0.3702728591147093
        ],
        [
          -0.03346721283141288,
          0.019372154357403,
          1.7073207125702354,
          -0.030879057784969566,
          -0.21098308645220115,
          -0.6968870019075196,
          0.6847489522399897
        ],
        [
          -0.01294698376032451,
          0.043399770538750104,
          1.6693523855131749,
          -0.11970447868766779,
          -0.05734766507681085,
          -0.6830416452264745,
          -0.7182173723731986
        ],
        [
          0.006080603100699591,
          -0.024136559292675667,
          1.7862393449483018,
          0.07316781819732349,
          0.2822400928603383,
          0.6937458158197779,
          -0.6585618751453667
        ],
        [
          -0.0183182388023774,
          -0.02280023795139626,
          1.8298617103021142,
          -0.15341041384294607,
          -0.045978306019477264,
          -0.6610168442561184,
          -0.7330811496074616
        ],
        [
          -0.025304786760896897,
          -0.03812605214764471,
          1.8464746436510258,
          -0.9414002473002911,
          -0.06438880745360805,
          0.06497339781237178,
          0.32465075609702165
        ],
        [
          -0.04166042866717561,
          -0.02818099641908934,
          1.8592906041842634,
          -0.6243736197254479,
          0.1962624967331197,
          0.7083382879109315,
          0.26437754300703004
        ],
        [
          -0.019265424020034335,
          -0.04514681106642396,
          1.7445198424123327,
          0.020072605981469184,
          -0.7684718514449734,
          -0.6367218113386263,
          -0.06027801416359086
        ],
        [
          -0.0022399717829609013,
          -0.04690969213033037,
          1.7328782692163403,
          0.568839060593773,
          -0.31637039714262843,
          0.6139663493478968,
          -0.4465167598456139
        ],
        [
          -0.02420553739426174,
          -0.06583678998777173,
          1.7216297629123691,
          -0.28522287275112135,
          -0.31783277022649825,
          0.7790800260090097,
          -0.45898208690922593
        ],
        [
          -0.03670451651909399,
          -0.04364094786767149,
          1.6879976205805671,
          0.30378883656680133,
          -0.2769333180061481,
          -0.46403079706206596,
          -0.7846627935192534
        ],
        [
          -0.012868071523672114,
          -0.05772050782725519,
          1.647088087689996,
          -0.5372225711713349,
          -0.8093598188374449,
          0.2300435619778731,
          -0.05838280798326405
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            2.030337275875285e-06,
            0.013822895914486204,
            1.6445426277982598
          ],
          "distance_m": -3.795366197750611e-05,
          "contact_frame": [
            -0.10699032293968228,
            0.0008840673182739339,
            0.9942596689106118,
            9.458668484584947e-05,
            0.9999996092124119,
            -0.0008789928226612189,
            -0.9942600574551014,
            0.0,
            -0.10699036475018885
          ],
          "force_torque_contact_frame": [
            1.6964863521880957,
            0.9761216850099632,
            -0.7203646671781326,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_left",
          "position_m": [
            2.445699392517975e-06,
            0.014226223269891158,
            1.6445367734686136
          ],
          "distance_m": -4.895094053651767e-05,
          "contact_frame": [
            -0.09992451077429464,
            0.0008280912964678825,
            0.9949946765743637,
            8.274664604715315e-05,
            0.9999996571323435,
            -0.0008239467142077851,
            -0.9949950177259735,
            1.3552527156068805e-20,
            -0.0999245450351892
          ],
          "force_torque_contact_frame": [
            1.734194785845677,
            0.993530837730127,
            -0.7406639481155499,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            8.962361569091064e-05,
            -0.024996028653695393,
            1.6367593926205526
          ],
          "distance_m": -0.00043546740418180595,
          "contact_frame": [
            -0.4116203179859981,
            -0.2653069574495987,
            0.8718835542375728,
            -0.11326468756623882,
            0.9641639997058783,
            0.2399143435096899,
            -0.9042896794565489,
            1.3877787807814457e-17,
            -0.4269194017942636
          ],
          "force_torque_contact_frame": [
            0.3814477214637135,
            -0.3814477214637135,
            0.0,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.008322929886740283,
            -0.026355886985827033,
            1.6325335881673624
          ],
          "distance_m": -0.000546630691033052,
          "contact_frame": [
            -0.39181019053213867,
            -0.2708635291599075,
            0.8792711317712013,
            -0.11024842421057929,
            0.9626177582878055,
            0.24741126972723826,
            -0.913416695465029,
            1.3877787807814457e-17,
            -0.4070257245503614
          ],
          "force_torque_contact_frame": [
            4.502113728963961,
            -0.778546972506238,
            -0.47893638036399955,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 9,
      "physics_step": 60,
      "sim_time_s": 0.30000000000000016,
      "qpos": [
        -0.023924737352079124,
        -0.03476948149076186,
        1.7512673455248584,
        0.9805864194928687,
        0.06310657811150118,
        -0.030718229751235206,
        -0.18309621532451803,
        -0.10883509023217054,
        -0.07447893477565198,
        -0.20166266709326222,
        -0.05259316961823185,
        0.07777522385805677,
        0.5836114978526252,
        0.3917564162726981,
        -0.6859999114745581,
        0.053116589988303424,
        -0.24319422016208142,
        0.37414229870003485,
        0.5892920205779263,
        0.005168254044518815,
        -0.17376279372561576
      ],
      "qvel": [
        -0.10640335066458054,
        -0.23005695848307717,
        0.011921765161489259,
        0.21868744601062767,
        -0.278698926583676,
        -2.5925202044166507,
        -2.9854485871155614,
        -0.8628210501498388,
        -0.1807488918365024,
        -4.67407819315305,
        -5.901692811230018,
        3.901554848232944,
        1.2781238947929374,
        -9.930158704204636,
        0.5917365027444201,
        -5.03954453182979,
        1.913893477125011,
        0.33799175173486257,
        1.2278823153789789,
        3.7836870224328805
      ],
      "target_rad": [
        -0.6035358905792236,
        -0.48585352301597595,
        -0.5351691842079163,
        -0.6888437867164612,
        -0.6216196417808533,
        0.9937150478363037,
        0.658494234085083,
        -1.8740406036376953,
        0.1436028778553009,
        -0.7555279731750488,
        0.7271038293838501,
        0.6390408873558044,
        0.025052931159734726,
        0.3180096745491028
      ],
      "policy_call": 15,
      "body_poses": [
        [
          -0.023924737352079124,
          -0.03476948149076186,
          1.7512673455248584,
          0.9805864194928687,
          0.06310657811150118,
          -0.030718229751235206,
          -0.18309621532451803
        ],
        [
          -0.011705476916661232,
          -0.02019740633630781,
          1.7489021182409863,
          0.019259614969180702,
          -0.7909583511274567,
          -0.6078312569634285,
          -0.06749160741330422
        ],
        [
          0.005244713794569759,
          -0.023086597389164118,
          1.7373763380108678,
          -0.5630737700275262,
          -0.5582883275399954,
          -0.4031428878988892,
          -0.4568784135589315
        ],
        [
          -0.006154945479735691,
          0.005846012102124144,
          1.737825644648206,
          -0.6276088105836648,
          0.4839410658404577,
          -0.48757598910043853,
          -0.3663029900556194
        ],
        [
          -0.034882551544450344,
          0.011138817930182392,
          1.7073837041603357,
          0.020632175820458735,
          -0.16622807923713534,
          -0.7074170801719889,
          0.6866612073468129
        ],
        [
          -0.01950045684552165,
          0.03629240874742686,
          1.667751797422559,
          -0.13859957835107345,
          -0.04731246223153152,
          -0.6853399384770006,
          -0.7133448370366425
        ],
        [
          0.0027310000089963045,
          -0.034442021015003516,
          1.7862925949547224,
          0.08344297077983089,
          0.35710832969788026,
          0.663309494840918,
          -0.6523276979722015
        ],
        [
          -0.026399550672619065,
          -0.02913624254687131,
          1.826582292543969,
          -0.2211807749594169,
          -0.04511394978281082,
          -0.6560936567665241,
          -0.7201283981860982
        ],
        [
          -0.03639826847537983,
          -0.04331945939454583,
          1.8426615956931294,
          -0.8531232687060535,
          -0.08451228599697164,
          0.1020179446655671,
          0.5046094538096542
        ],
        [
          -0.04857060296508835,
          -0.02819709762431645,
          1.855063549069955,
          -0.5419865119811288,
          0.3148838140229195,
          0.6672603446998808,
          0.4023213105067944
        ],
        [
          -0.02413769670563771,
          -0.052571939837610424,
          1.7441767090849856,
          0.014685523928934748,
          -0.7483710557601173,
          -0.6595564517617076,
          -0.06863224626169069
        ],
        [
          -0.006773957007265619,
          -0.0533029108276858,
          1.7329309887835178,
          0.6024099844962202,
          -0.310207532419709,
          0.6078607299837403,
          -0.41397926319197703
        ],
        [
          -0.027117863647156445,
          -0.07280384573282431,
          1.719774659491008,
          -0.24473602417238025,
          -0.3386074977324431,
          0.7893711735913762,
          -0.44982484508377474
        ],
        [
          -0.039473899764809944,
          -0.04928891663856691,
          1.6869969633309467,
          0.34064620028134945,
          -0.24589761027819956,
          -0.4491909149146012,
          -0.7884935341849874
        ],
        [
          -0.014425780984654225,
          -0.05877826628528293,
          1.645493421447662,
          -0.5021214567276008,
          -0.8228895047078177,
          0.246200630095407,
          -0.1005592137802294
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.013234039226346377,
            -0.044210792901550285,
            1.6246903606677074
          ],
          "distance_m": -0.0009355775618020578,
          "contact_frame": [
            -0.3921601327115037,
            -0.26782457154232364,
            0.8800456972168357,
            -0.10901260113738497,
            0.9634676947766182,
            0.2446349400946043,
            -0.9134148472107059,
            0.0,
            -0.40702987223917947
          ],
          "force_torque_contact_frame": [
            5.104548194726925,
            0.70977826795196,
            -1.2693341278653891,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 10,
      "physics_step": 67,
      "sim_time_s": 0.3350000000000002,
      "qpos": [
        -0.028614741234010657,
        -0.04146058307091411,
        1.7509857857462383,
        0.971362079710303,
        0.08177197478257442,
        -0.03158167395884762,
        -0.22084304859105006,
        -0.2283925861287759,
        -0.14966572044218718,
        -0.261454228524745,
        -0.23223857526041353,
        -0.1348943500638368,
        0.72971066765365,
        0.45896136198351384,
        -1.0441199388540612,
        0.0818885089746215,
        -0.4125723164024323,
        0.394346291593459,
        0.5888015213208505,
        0.004853769843880698,
        -0.04209677091796958
      ],
      "qvel": [
        -0.16446517506300495,
        -0.16886101854262944,
        -0.032370990587084224,
        1.5598551462105692,
        0.02434975113465724,
        -1.9621783857833386,
        -3.1484363417429075,
        -2.524912947944957,
        -2.815751946238764,
        -5.00578405772697,
        -5.84199090033707,
        4.162700665299741,
        2.5399860385731197,
        -9.767843336146447,
        1.1215060925579818,
        -4.393353640215803,
        -0.1350759258462914,
        -0.5335094427023682,
        -1.218495140523713,
        3.3083585102992465
      ],
      "target_rad": [
        -0.3789394199848175,
        -0.3274163007736206,
        -0.7671178579330444,
        -0.5814650058746338,
        -0.593802273273468,
        0.9625083208084106,
        0.874048113822937,
        -1.7185773849487305,
        0.27706634998321533,
        -0.6819896697998047,
        0.6577183604240417,
        0.40706658363342285,
        -0.25786060094833374,
        0.1526353359222412
      ],
      "policy_call": 16,
      "body_poses": [
        [
          -0.028614741234010657,
          -0.04146058307091411,
          1.7509857857462383,
          0.971362079710303,
          0.08177197478257442,
          -0.03158167395884762,
          -0.22084304859105006
        ],
        [
          -0.015306847408641713,
          -0.027782280532378058,
          1.749238215548225,
          0.02612543562384575,
          -0.7770534937924919,
          -0.6233007378424923,
          -0.0836750835275904
        ],
        [
          0.0019668470218555147,
          -0.02962774098413402,
          1.737981495046995,
          -0.5668748604233522,
          -0.5378162554934126,
          -0.42296547737802936,
          -0.4588101708696344
        ],
        [
          -0.010504871744679662,
          -0.0011493528259020058,
          1.7371522550832201,
          -0.6209800234725947,
          0.5211960062510337,
          -0.47049723797397464,
          -0.34838324094997386
        ],
        [
          -0.03749669373351502,
          0.00133444608433157,
          1.7048215703842142,
          0.0456357902258168,
          -0.11204252420634414,
          -0.7031596866262332,
          0.7006641866997567
        ],
        [
          -0.02781392778795264,
          0.026395218747568616,
          1.6633703735719991,
          -0.1591779580425241,
          0.0016899697327714541,
          -0.7021467594993718,
          -0.6940096899901644
        ],
        [
          -0.00221677537935093,
          -0.04455636768236851,
          1.786070927596111,
          0.0994298361750123,
          0.43245385084919985,
          0.6319718787487286,
          -0.6353809243553894
        ],
        [
          -0.035864224760418485,
          -0.03548384246746733,
          1.82192533369039,
          -0.2773611127206732,
          -0.047708025012445546,
          -0.6413416840545378,
          -0.7137755962442607
        ],
        [
          -0.048267940085982765,
          -0.048814901351862484,
          1.8370287340609406,
          -0.715949898634702,
          -0.12537401088825148,
          0.11521702807444865,
          0.6770687826804915
        ],
        [
          -0.05413510091117585,
          -0.03128460622580251,
          1.850773739577293,
          -0.44765207786919925,
          0.41383735453137105,
          0.5712630170363644,
          0.5495496579385466
        ],
        [
          -0.03014237210721052,
          -0.058900198974419865,
          1.74318988034318,
          0.01831999448977018,
          -0.7164423186045471,
          -0.6921172921713877,
          -0.08572301786439701
        ],
        [
          -0.012508697218539956,
          -0.0577698639615813,
          1.732406752194103,
          0.6360636768066873,
          -0.3186975865773824,
          0.5934868866603191,
          -0.3763351733749447
        ],
        [
          -0.030606444408671607,
          -0.0784320554160753,
          1.717819244149892,
          -0.20517764485240464,
          -0.3739970051679717,
          0.7859291188728967,
          -0.447597804156677
        ],
        [
          -0.044265978321414844,
          -0.054678507318595,
          1.6857383001102086,
          0.37590326144625114,
          -0.20626330792377892,
          -0.44709854398935234,
          -0.7850191576012723
        ],
        [
          -0.017389646773547596,
          -0.059920153983213445,
          1.644626404717605,
          -0.46547845560589873,
          -0.8268028878670535,
          0.27194728235751914,
          -0.1605349419902278
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.015322925357857823,
            -0.04543494307938082,
            1.623501772445909
          ],
          "distance_m": -0.0007335307436648733,
          "contact_frame": [
            -0.39216651780019174,
            -0.2678237790289097,
            0.8800430930943925,
            -0.10901402855459229,
            0.9634679150789992,
            0.24463343637292262,
            -0.9134119354895525,
            0.0,
            -0.40703640636339833
          ],
          "force_torque_contact_frame": [
            5.183569680162217,
            1.6331983090905327,
            -1.5489553016941682,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 11,
      "physics_step": 73,
      "sim_time_s": 0.3650000000000002,
      "qpos": [
        -0.03499061832857362,
        -0.0466373343495039,
        1.7489565648544678,
        0.9664023224557997,
        0.10775392248383042,
        -0.03918451410787837,
        -0.2300439462266152,
        -0.266244347158819,
        -0.17804054306710249,
        -0.37275106470650743,
        -0.358684583038011,
        -0.2827151805006694,
        0.8545022064366532,
        0.5498154231932314,
        -1.2803438942977354,
        0.13867662052199758,
        -0.522594329110791,
        0.38280645740101055,
        0.522697885288763,
        -0.09775415446691234,
        0.021393839145712003
      ],
      "qvel": [
        -0.26775685560310025,
        -0.19944849810430493,
        -0.06731889006906883,
        1.4997398556760175,
        0.10435531707856344,
        1.4047334361010406,
        0.6864757489437163,
        0.8320382821667046,
        -3.8150567627107295,
        -2.983470415355227,
        -3.7226374177750787,
        4.495173092410865,
        2.90019662304553,
        -6.049963408352849,
        2.4404624631239797,
        -2.948681648831324,
        -0.9817089046735419,
        -3.9458675200885094,
        -5.149963263568516,
        1.0563340575707956
      ],
      "target_rad": [
        0.9751787781715393,
        1.21490478515625,
        -1.5449037551879883,
        0.5490223169326782,
        -0.13722610473632812,
        1.1844258308410645,
        0.6453299522399902,
        -0.8094128370285034,
        0.4904513359069824,
        -0.48344185948371887,
        -0.4910184144973755,
        -1.2557048797607422,
        -0.6830742955207825,
        -0.35326752066612244
      ],
      "policy_call": 18,
      "body_poses": [
        [
          -0.03499061832857362,
          -0.0466373343495039,
          1.7489565648544678,
          0.9664023224557997,
          0.10775392248383042,
          -0.03918451410787837,
          -0.2300439462266152
        ],
        [
          -0.021384279460633617,
          -0.033163176385814765,
          1.7482051596506416,
          0.0342661735986924,
          -0.7694199578040849,
          -0.628368199844834,
          -0.10941738117605505
        ],
        [
          -0.003739340375931873,
          -0.03421650411610308,
          1.737432665724453,
          -0.5641538077317865,
          -0.5334184691456487,
          -0.41602333080897225,
          -0.4734129341480293
        ],
        [
          -0.016626550180894754,
          -0.005919660545684227,
          1.7367555635208594,
          -0.6470382586762214,
          0.548490275026008,
          -0.4258313771624212,
          -0.31490879351820544
        ],
        [
          -0.03908323942192021,
          -0.003988310337415887,
          1.7010909048358946,
          0.037554643262797005,
          -0.10974865938141556,
          -0.7111830201782313,
          0.693371179343037
        ],
        [
          -0.02936837639467604,
          0.022043383733160365,
          1.6602500877508044,
          -0.2088506375933406,
          0.060507128871645846,
          -0.6917462185873228,
          -0.6886272341424667
        ],
        [
          -0.00956043521674721,
          -0.051956508488582936,
          1.784487056486686,
          0.12876123854625673,
          0.48799262323855397,
          0.6123814177971103,
          -0.6085004044777529
        ],
        [
          -0.047279323239728256,
          -0.04111555423009947,
          1.8154670370721429,
          -0.3034327188589292,
          -0.041256086081053314,
          -0.6206046520634755,
          -0.7218562088978124
        ],
        [
          -0.060835664871807645,
          -0.05459575132831545,
          1.8294023115709677,
          -0.6157133534650044,
          -0.16815698755077813,
          0.10591251014827523,
          0.7624977600601959
        ],
        [
          -0.06312935947124373,
          -0.0378113450683043,
          1.8450126501830355,
          -0.4052104795587016,
          0.45460520202496413,
          0.47992346342223474,
          0.6315156742349741
        ],
        [
          -0.036650769776952204,
          -0.06364599763538317,
          1.7402848135667504,
          0.019998880044021262,
          -0.6827875350377202,
          -0.7215641676528783,
          -0.11289986161863398
        ],
        [
          -0.018751580825898107,
          -0.06057320211120047,
          1.7303511857017142,
          0.6684365096942814,
          -0.32799379725548533,
          0.569746048949639,
          -0.34785362032890876
        ],
        [
          -0.03434473283651256,
          -0.08232179132738779,
          1.7145049723534278,
          -0.1787149530406683,
          -0.4259466936894222,
          0.7650585890546591,
          -0.4486822205173877
        ],
        [
          -0.05122342148142188,
          -0.059766398282307454,
          1.6830985239929375,
          0.388059067572783,
          -0.156579978524642,
          -0.4568779703312085,
          -0.7849556615668164
        ],
        [
          -0.021104280844263707,
          -0.06199675981454499,
          1.6440106377017272,
          -0.43148408842632563,
          -0.8263972007655425,
          0.2895045718432298,
          -0.21697062216725277
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.0284329032624584,
            0.022414289780105418,
            1.6368223432255506
          ],
          "distance_m": -0.0006839794563759914,
          "contact_frame": [
            -0.4021175417294749,
            -0.21583319657980046,
            0.8897850942152208,
            -0.08888531927086891,
            0.9764302490470813,
            0.19668088052469793,
            -0.9112633442927242,
            1.3877787807814457e-17,
            -0.4118241340043591
          ],
          "force_torque_contact_frame": [
            7.519830094808732,
            -3.754444459256432,
            1.8322114882050264,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.01593723429537731,
            0.017170340200916158,
            1.6415016426984734
          ],
          "distance_m": -5.6518182407018096e-05,
          "contact_frame": [
            -0.39079478038360044,
            -0.20484068803719796,
            0.8973960843180568,
            -0.08178489360500656,
            0.9787953271876851,
            0.18780558738645245,
            -0.916837319704511,
            -1.3877787807814457e-17,
            -0.39926097880590433
          ],
          "force_torque_contact_frame": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 12,
      "physics_step": 80,
      "sim_time_s": 0.40000000000000024,
      "qpos": [
        -0.04854103742903655,
        -0.05722900311563688,
        1.7433598815565972,
        0.9816338638075452,
        0.10579133449340528,
        -0.019117480635451402,
        -0.15759972368797784,
        -0.1277550374974015,
        -0.05611534638401011,
        -0.5310674045434153,
        -0.28419286951253603,
        -0.2660993739842699,
        1.0183883245361505,
        0.5725367185589372,
        -1.3335215610485933,
        0.19995626284549037,
        -0.515643564511737,
        0.2753320997588461,
        0.22831163707040714,
        -0.2571556256067698,
        0.006523108255162697
      ],
      "qvel": [
        -0.470703062899412,
        -0.3486823876205759,
        -0.24750866085996068,
        -1.0460277760237564,
        2.7890670149758416,
        5.234036729074293,
        5.492088028204413,
        4.7032166319600766,
        -5.04746697262355,
        6.31107039774994,
        4.352927818342959,
        4.205128096729132,
        -1.679837731481204,
        2.2567265804496963,
        0.22897471254019353,
        2.3660213551711466,
        -4.195850802537347,
        -10.732890351855493,
        -2.929500031153837,
        -0.7655682251486865
      ],
      "target_rad": [
        -0.1743835210800171,
        0.15349841117858887,
        -0.7291679978370667,
        1.2087193727493286,
        1.113537073135376,
        0.4380020499229431,
        0.1636326014995575,
        -0.19025760889053345,
        -0.32350337505340576,
        0.1694173812866211,
        0.08893132209777832,
        0.1337280571460724,
        0.28722015023231506,
        0.7295779585838318
      ],
      "policy_call": 20,
      "body_poses": [
        [
          -0.04854103742903655,
          -0.05722900311563688,
          1.7433598815565972,
          0.9816338638075452,
          0.10579133449340528,
          -0.019117480635451402,
          -0.15759972368797784
        ],
        [
          -0.037145188059174244,
          -0.04186241269939696,
          1.7422407228909327,
          0.05552460149721183,
          -0.7667220217577511,
          -0.6329139410946514,
          -0.0920559783409977
        ],
        [
          -0.02007665764758452,
          -0.042520646269426136,
          1.7305474770560105,
          -0.5170759348970042,
          -0.5704582328541598,
          -0.3986048509903261,
          -0.4983212366398585
        ],
        [
          -0.03358122759056978,
          -0.014703311772070342,
          1.7338750124979312,
          -0.6975122512211533,
          0.5366035753046634,
          -0.36591546414886994,
          -0.3027195657095318
        ],
        [
          -0.051405502568704256,
          -0.009316236308741564,
          1.696016387009593,
          -0.02910040903307104,
          -0.1761842248184075,
          -0.73967668274193,
          0.648837953673441
        ],
        [
          -0.03404754816259762,
          0.019936093297606677,
          1.6601973609000367,
          -0.2727507490566891,
          0.11491643124471783,
          -0.6392430975481929,
          -0.7097672188513526
        ],
        [
          -0.021721775598489423,
          -0.058462170745364805,
          1.7782398207009182,
          0.21640029258395294,
          0.483936619003704,
          0.610464261762422,
          -0.5884807960058714
        ],
        [
          -0.06399911832805011,
          -0.050411740897320756,
          1.8036920675759778,
          -0.291862973871442,
          0.04142180138159238,
          -0.6256380489295935,
          -0.7222722967031152
        ],
        [
          -0.07727696456324373,
          -0.06474146272639063,
          1.8170352253456377,
          -0.6394673074348693,
          -0.1994436330110305,
          0.14293598875185837,
          0.7286103918370144
        ],
        [
          -0.0823051567925449,
          -0.04771925967669127,
          1.831719294476502,
          -0.41484712075182906,
          0.42752896031499976,
          0.5131327083290461,
          0.6179123547387525
        ],
        [
          -0.04783298139289209,
          -0.07434034914416737,
          1.7347604342638014,
          0.03674159592598229,
          -0.6303653324935513,
          -0.7688187452648066,
          -0.10103137952415703
        ],
        [
          -0.030831496748633697,
          -0.06876920011283094,
          1.72434833465029,
          0.6668613804079178,
          -0.40299518348235974,
          0.5320532792720194,
          -0.33137605439493567
        ],
        [
          -0.043544939129169444,
          -0.09395903190520305,
          1.7112681680952038,
          -0.24832712089717607,
          -0.5669281176699039,
          0.6323411577768839,
          -0.46590858610200375
        ],
        [
          -0.07318732832869117,
          -0.08254619479106863,
          1.6834998985063312,
          0.4811670683802818,
          -0.18653666263130217,
          -0.4939040828653117,
          -0.699815034655355
        ],
        [
          -0.0479883335947765,
          -0.08464070322764246,
          1.6410661419107944,
          -0.4804328361019691,
          -0.8345717521338343,
          0.15733029258096562,
          -0.21890970643547858
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.03266606501018329,
            0.020311235988981807,
            1.6345995612513873
          ],
          "distance_m": -0.0003965411188996721,
          "contact_frame": [
            -0.4084391478183688,
            -0.22234793712208245,
            0.88529026730613,
            -0.09314732337390828,
            0.974967381432607,
            0.20189646180832913,
            -0.9080203955185596,
            -1.3877787807814457e-17,
            -0.41892596162367257
          ],
          "force_torque_contact_frame": [
            2.5239259698276344,
            0.37893225462635777,
            -0.7005079647188532,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 13,
      "physics_step": 87,
      "sim_time_s": 0.4350000000000003,
      "qpos": [
        -0.06690568469517054,
        -0.06965937542391475,
        1.728570233633234,
        0.9889119886097104,
        0.10971022346388673,
        0.0033546024170604217,
        -0.1000274577009517,
        -0.03532204875125291,
        0.09895572666191756,
        -0.622894734664045,
        0.0613414994336375,
        0.013010086158921692,
        1.0402503273785464,
        0.4729238384387711,
        -1.140345745802,
        0.1388206791854772,
        -0.39159576895257936,
        0.1662632302840531,
        0.032196947347953773,
        -0.2470005462199948,
        0.0733419153810386
      ],
      "qvel": [
        -0.5549179241083555,
        -0.3824184621682617,
        -0.5558604580328055,
        0.5093698292042748,
        0.490745272148296,
        1.438230958833639,
        0.6499720303608113,
        4.260222010406554,
        -0.011333573010234632,
        11.776712923883268,
        9.435167272867941,
        -1.9888660179126953,
        -3.40253783716453,
        6.891118066944092,
        -2.498959034782248,
        3.3497872103136697,
        -1.794190751111127,
        -0.31947044472635966,
        1.2134148821804216,
        2.3872234548249205
      ],
      "target_rad": [
        -0.3999423086643219,
        0.30730655789375305,
        0.12018591165542603,
        1.3259968757629395,
        1.067798376083374,
        0.13182111084461212,
        0.12673544883728027,
        -0.3584558367729187,
        -0.16686013340950012,
        -0.23722292482852936,
        0.4293209910392761,
        1.467054843902588,
        -0.1922914683818817,
        0.26997488737106323
      ],
      "policy_call": 21,
      "body_poses": [
        [
          -0.06690568469517054,
          -0.06965937542391475,
          1.728570233633234,
          0.9889119886097104,
          0.10971022346388673,
          0.0033546024170604217,
          -0.1000274577009517
        ],
        [
          -0.057474295840891934,
          -0.053025150052925275,
          1.7273047493044018,
          0.07860831249298325,
          -0.7587763669295932,
          -0.6420364775456725,
          -0.07660495869640557
        ],
        [
          -0.04100781168694756,
          -0.05299754388808445,
          1.7147606615532913,
          -0.45523063746835674,
          -0.6111699520897784,
          -0.37004626951571606,
          -0.5313211032795832
        ],
        [
          -0.05521743352438775,
          -0.026576237516033843,
          1.7229613454778905,
          -0.7463054004818694,
          0.49346501664991504,
          -0.3165772943081274,
          -0.3151179831155957
        ],
        [
          -0.07064833557675182,
          -0.015598706274205495,
          1.6852601259472835,
          -0.14258471669652564,
          -0.32776815672000104,
          -0.7408367765652684,
          0.568681373436239
        ],
        [
          -0.03924035602273052,
          0.01454934420392474,
          1.6619227337900115,
          -0.3229420807349561,
          0.13888242918618793,
          -0.5695968546192114,
          -0.742953233091977
        ],
        [
          -0.03904372900829786,
          -0.06798002368685352,
          1.7626039649199439,
          0.24553779857218003,
          0.44540050066955883,
          0.6401379514670399,
          -0.575806379408231
        ],
        [
          -0.08169372849676984,
          -0.06498656443046259,
          1.7885272506938126,
          -0.28304471821076893,
          0.10381421645833544,
          -0.6173041434787474,
          -0.7266662854420166
        ],
        [
          -0.0946584845548224,
          -0.0802987317038423,
          1.8010625856058613,
          -0.7315868284524291,
          -0.21275405566917238,
          0.1885355895059948,
          0.619653738567647
        ],
        [
          -0.10536295256641422,
          -0.06375931723780272,
          1.8130008490352454,
          -0.42389279137223107,
          0.3321525466899684,
          0.6291033251490855,
          0.5605520434682139
        ],
        [
          -0.06442434288129203,
          -0.08648222227306246,
          1.7197336751010441,
          0.0637902690425025,
          -0.6330027019448511,
          -0.7663289064368155,
          -0.08932182300735725
        ],
        [
          -0.048036984837910426,
          -0.08074762627111556,
          1.7084611906786786,
          0.6363684218435067,
          -0.4361507098027344,
          0.5307561361436088,
          -0.35086423865204963
        ],
        [
          -0.06143646120339547,
          -0.10686523571510251,
          1.698186244933704,
          -0.33347252643164893,
          -0.6174167774856038,
          0.5509294699762128,
          -0.4517403193277249
        ],
        [
          -0.09698244573716563,
          -0.10099026857199776,
          1.6762324610001218,
          0.5448471300140768,
          -0.2752843030744929,
          -0.48937898858840717,
          -0.6227907858377498
        ],
        [
          -0.08133419759687036,
          -0.10745121196405663,
          1.6298278433352347,
          -0.5347847933172154,
          -0.8230689557680727,
          0.0853478298484064,
          -0.17110951705759922
        ]
      ],
      "terrain_contacts": []
    },
    {
      "frame": 14,
      "physics_step": 93,
      "sim_time_s": 0.4650000000000003,
      "qpos": [
        -0.08375007098342052,
        -0.08181711872326149,
        1.706721356838401,
        0.9870533333184777,
        0.12012438761344404,
        -0.009807579060322692,
        -0.10582844645157173,
        -0.07008845648543241,
        0.17659464110442324,
        -0.5278833337567188,
        0.33407425746775943,
        0.2537131939752046,
        0.9089391520328443,
        0.35927711428876197,
        -0.9200105620627504,
        0.06770429126246474,
        -0.309137976187149,
        0.13945232745734343,
        0.15155082827117938,
        -0.18207486197634015,
        0.07995873370934796
      ],
      "qvel": [
        -0.5554352383203057,
        -0.41665050436952195,
        -0.8378264756915131,
        1.0429277055443014,
        -1.5702242030807299,
        -1.3482266993960514,
        -2.2459777016873335,
        1.2113994979759923,
        5.08092222421544,
        6.209114539990066,
        6.166945362906457,
        -5.450855756989004,
        -4.099476832550629,
        7.348581057038429,
        -2.0520910141068045,
        2.1802391630678786,
        -0.3446121443611484,
        6.0157530440288545,
        3.115768131220044,
        -1.641179922582733
      ],
      "target_rad": [
        -0.5665770173072815,
        -0.13284015655517578,
        0.45876872539520264,
        -0.01470712386071682,
        0.14877063035964966,
        0.4208531975746155,
        -0.20369571447372437,
        -0.4114556610584259,
        0.003840312361717224,
        -0.3898417353630066,
        0.3847945034503937,
        1.1066040992736816,
        0.44210144877433777,
        -0.5658738613128662
      ],
      "policy_call": 23,
      "body_poses": [
        [
          -0.08375007098342052,
          -0.08181711872326149,
          1.706721356838401,
          0.9870533333184777,
          0.12012438761344404,
          -0.009807579060322692,
          -0.10582844645157173
        ],
        [
          -0.07404688265934434,
          -0.06530647706307603,
          1.706016482157014,
          0.07473881231126409,
          -0.7504773453525434,
          -0.6498135863507857,
          -0.09455245655630036
        ],
        [
          -0.057160728388641946,
          -0.06474935728092553,
          1.6940562392040313,
          -0.4295432699138494,
          -0.6158658022498621,
          -0.33964338383688064,
          -0.5664311650206799
        ],
        [
          -0.0722760962350038,
          -0.03945549800909834,
          1.7040059295512817,
          -0.7565662945898255,
          0.4541973214449262,
          -0.3012486332340241,
          -0.3613329434988015
        ],
        [
          -0.0898756555685884,
          -0.02539373724583599,
          1.6683334852852882,
          -0.195459476911954,
          -0.4070077819440123,
          -0.73300662998632,
          0.5087647184292741
        ],
        [
          -0.05314444177697247,
          0.00447756027174806,
          1.654243647883438,
          -0.31099973785173285,
          0.12952166271259008,
          -0.5294054067737495,
          -0.7786097977954297
        ],
        [
          -0.056794370595163735,
          -0.08117454972104944,
          1.7415118869278654,
          0.2080982143326832,
          0.4171460243180523,
          0.6675299936764929,
          -0.5805928307596064
        ],
        [
          -0.09672215202622728,
          -0.08006466564766844,
          1.7715874655147668,
          -0.29116322490932717,
          0.10101274876852016,
          -0.608431858570976,
          -0.7313214577205405
        ],
        [
          -0.10997579994117575,
          -0.09550508374835787,
          1.7836546231516124,
          -0.7891794775727369,
          -0.2009759265510715,
          0.20990617166151268,
          0.5410580636339948
        ],
        [
          -0.12377560674639117,
          -0.08001451593396486,
          1.7936679962559374,
          -0.4271321423485437,
          0.26424723793537064,
          0.6979164666905937,
          0.5105331876953625
        ],
        [
          -0.08127649605743871,
          -0.09851241006262598,
          1.6976439852926672,
          0.06293111193698163,
          -0.6676389882415391,
          -0.7346646338794898,
          -0.10278974782002588
        ],
        [
          -0.06431700547676096,
          -0.09413227783278783,
          1.6866126607623564,
          0.6205210383367865,
          -0.4097266029807985,
          0.5464644382423912,
          -0.3852977673536133
        ],
        [
          -0.08005839182781216,
          -0.11889821788023423,
          1.6763118370422245,
          -0.32655346346731084,
          -0.5507502884345176,
          0.6147357603618899,
          -0.4605832174744193
        ],
        [
          -0.111508068374054,
          -0.108021676147118,
          1.6503769267960997,
          0.492582913077287,
          -0.2833287722127156,
          -0.4883634625542944,
          -0.6622597745769474
        ],
        [
          -0.09388081349841784,
          -0.11631753234039194,
          1.604984651510872,
          -0.5394380640421074,
          -0.8111491455559734,
          0.15252212607431603,
          -0.16667525246444895
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.05263153778489694,
            -0.008866245830229498,
            1.618241192487909
          ],
          "distance_m": -0.0003187228013647516,
          "contact_frame": [
            -0.39215425853229713,
            -0.26781621721253845,
            0.8800508572309618,
            -0.10900730507733965,
            0.9634700170726469,
            0.2446281538208744,
            -0.9134180012211058,
            0.0,
            -0.4070227942575697
          ],
          "force_torque_contact_frame": [
            11.773206040128468,
            2.6325767467157615,
            -9.140629293412706,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 15,
      "physics_step": 100,
      "sim_time_s": 0.5000000000000003,
      "qpos": [
        -0.10056521119427853,
        -0.09871559058669556,
        1.6931626892132006,
        0.9708262437928618,
        0.16414618737830927,
        -0.05700288794851093,
        -0.16523651018385005,
        -0.19547414455253173,
        0.19821900043046817,
        -0.33605328847164906,
        0.46551767567498276,
        0.3449796089320714,
        0.7844930636445999,
        0.21261493073701948,
        -0.741136075501083,
        0.04164623020206574,
        -0.32249137589958443,
        0.1894864807226862,
        0.3490898058420827,
        -0.06216599857495882,
        -0.017919602919519547
      ],
      "qvel": [
        -0.5076358483121853,
        -0.5856593674815204,
        0.03675343802012179,
        1.4912090986684936,
        -1.774092705554298,
        -3.650469862422195,
        -4.515964600972531,
        -1.58075524084822,
        6.600459064111737,
        0.7099870158451321,
        0.7447848053041566,
        -0.9095125440130276,
        -4.322286599871125,
        1.6428117784514746,
        0.36239200392566673,
        -3.556213913659765,
        3.797147887018506,
        5.078288954342757,
        2.635720978072203,
        -2.2642887992998064
      ],
      "target_rad": [
        -1.2468338012695312,
        -0.7232139110565186,
        0.49542075395584106,
        -0.7448689937591553,
        -0.4462747573852539,
        1.1902803182601929,
        0.3021934926509857,
        -3.1729736328125,
        0.1332518458366394,
        -2.4166674613952637,
        1.5204877853393555,
        1.5074059963226318,
        0.8284091949462891,
        0.7491025328636169
      ],
      "policy_call": 25,
      "body_poses": [
        [
          -0.10056521119427853,
          -0.09871559058669556,
          1.6931626892132006,
          0.9708262437928618,
          0.16414618737830927,
          -0.05700288794851093,
          -0.16523651018385005
        ],
        [
          -0.08882014228636483,
          -0.08365212650063804,
          1.6947103991590284,
          0.060140771112886876,
          -0.7438977203251795,
          -0.6453083616610709,
          -0.16302266012813324
        ],
        [
          -0.07059359620552637,
          -0.0825423515930466,
          1.6849604546659787,
          -0.42456058444903383,
          -0.5994948106349759,
          -0.2830983377384863,
          -0.6166113957134873
        ],
        [
          -0.08673567623573862,
          -0.058008580024514124,
          1.6951965332569865,
          -0.7590848836653807,
          0.4150262927971722,
          -0.27980393153994854,
          -0.4162368022803111
        ],
        [
          -0.10703824817151378,
          -0.04161283259565371,
          1.662045576657641,
          -0.20636729864836031,
          -0.4275915635000659,
          -0.7527472291582297,
          0.4560149140836895
        ],
        [
          -0.07003477667321359,
          -0.010000447243666853,
          1.6535957133787489,
          -0.2920479862630068,
          0.1250364521260425,
          -0.4846678754135745,
          -0.8149668152149178
        ],
        [
          -0.07712036097070629,
          -0.10433939871895173,
          1.7299881619506392,
          0.1473272709463883,
          0.4519978331286539,
          0.6815235459229694,
          -0.5563436801430149
        ],
        [
          -0.11612153717941426,
          -0.10295736556014455,
          1.7612451329920769,
          -0.3771315082174964,
          0.08746341155575407,
          -0.5688354479448451,
          -0.7256364174364546
        ],
        [
          -0.13259342190347773,
          -0.11716273584250109,
          1.770549242642565,
          -0.7790220723407826,
          -0.22232025020697826,
          0.2660661536239013,
          0.5224051292335876
        ],
        [
          -0.14756798886644956,
          -0.10146749022000207,
          1.7783004753910314,
          -0.37360064211173755,
          0.22753299147896724,
          0.7344105834775563,
          0.5189339002979902
        ],
        [
          -0.09939428165186973,
          -0.11485483124163796,
          1.6828960522229992,
          0.04967314255020762,
          -0.7014429299195308,
          -0.6912195859497896,
          -0.16651089746467723
        ],
        [
          -0.0810596776156341,
          -0.11175805561136162,
          1.6737992244500786,
          0.6473860895908458,
          -0.31911639100486816,
          0.5638368647393446,
          -0.40142741555255934
        ],
        [
          -0.09825799842734467,
          -0.1330177827937564,
          1.6589839701023588,
          -0.2438385516514859,
          -0.4435618982148085,
          0.7349632081820818,
          -0.45124792054843055
        ],
        [
          -0.11889855908430008,
          -0.11286782326568043,
          1.628195217753596,
          0.4205064587217872,
          -0.22969688814348835,
          -0.458607964004088,
          -0.7483932075469981
        ],
        [
          -0.09509472279306916,
          -0.11815132315698615,
          1.5852363769089126,
          -0.4881357477869935,
          -0.8285810150145236,
          0.22443613008320218,
          -0.15749735490861325
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.095758498603395,
            -0.10126157378129455,
            1.567890941947209
          ],
          "distance_m": -0.005623108187911992,
          "contact_frame": [
            -0.39130363225053505,
            -0.2753148563419868,
            0.878113430750794,
            -0.1120624563658801,
            0.9613541126335244,
            0.2514761936960517,
            -0.9134130901518674,
            0.0,
            -0.40703381522819054
          ],
          "force_torque_contact_frame": [
            10.183669343014127,
            0.7204225504328239,
            -1.6037844696102055,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 16,
      "physics_step": 107,
      "sim_time_s": 0.5350000000000004,
      "qpos": [
        -0.11970084542554475,
        -0.12229357312737626,
        1.6943306691078128,
        0.9581840196874843,
        0.16320394898430418,
        -0.06280201391380263,
        -0.22650333882712054,
        -0.42597306807595475,
        0.047458139538072944,
        -0.11437037872914232,
        0.3092696785957129,
        0.23883391857961306,
        0.8455377848477211,
        0.16275862457428794,
        -0.9360784668652261,
        0.061429000660204035,
        -0.6077754846838966,
        0.4117935589212986,
        0.5868354706399634,
        0.11871489912325858,
        0.04582636298881561
      ],
      "qvel": [
        -0.5580781931738088,
        -0.6549177673042125,
        0.007389149293442428,
        0.06281569526013864,
        -0.20747741283480536,
        -2.679665791943665,
        -7.9256103941375615,
        -6.32443440254202,
        5.507515440024003,
        -7.638109428096205,
        -5.384382709667467,
        3.851765605109271,
        1.3409176816720216,
        -9.585183092165002,
        0.9037426015295484,
        -5.806407999312842,
        4.615837751936913,
        8.053252305858795,
        6.708000284690652,
        4.733929330435606
      ],
      "target_rad": [
        -1.4454835653305054,
        -0.9112220406532288,
        0.24167734384536743,
        -0.9809585213661194,
        -0.6843202710151672,
        1.548917293548584,
        0.9863350987434387,
        -4.6016130447387695,
        0.2376301884651184,
        -3.042618989944458,
        1.8563175201416016,
        1.6626315116882324,
        0.99776691198349,
        1.109039306640625
      ],
      "policy_call": 26,
      "body_poses": [
        [
          -0.11970084542554475,
          -0.12229357312737626,
          1.6943306691078128,
          0.9581840196874843,
          0.16320394898430418,
          -0.06280201391380263,
          -0.22650333882712054
        ],
        [
          -0.10615501643122244,
          -0.10882727982445073,
          1.6958861309479618,
          0.03560999355789078,
          -0.7094088098532491,
          -0.6827587557746112,
          -0.17120616307396122
        ],
        [
          -0.08754155631234675,
          -0.1063483055961711,
          1.687174426799028,
          -0.4619862611335973,
          -0.5352420688306847,
          -0.34912098765515426,
          -0.6149789900934316
        ],
        [
          -0.10569250131468735,
          -0.08159432223392354,
          1.6921777759996712,
          -0.6601553587880022,
          0.4655943656503844,
          -0.3396297388328586,
          -0.4817348123588572
        ],
        [
          -0.13304866036836716,
          -0.07466672069249966,
          1.6608145844668722,
          -0.17570306275961706,
          -0.24901807246659136,
          -0.7783723573971284,
          0.5488669297397591
        ],
        [
          -0.1086706844117484,
          -0.03869021650984719,
          1.6373325608093146,
          -0.15451453352642747,
          0.10906340189269127,
          -0.5658901370342594,
          -0.8024953495840647
        ],
        [
          -0.09687603280538296,
          -0.13109017371736695,
          1.730923720485973,
          0.12507419482508353,
          0.5118922202211864,
          0.6391953039409937,
          -0.5601358443142711
        ],
        [
          -0.13660179710634168,
          -0.12351159279650321,
          1.7603248898833048,
          -0.4582382502970136,
          0.07912709263276527,
          -0.5684493130511199,
          -0.6786913788077217
        ],
        [
          -0.15590730271747763,
          -0.13451323771615536,
          1.7684454348016148,
          -0.66608415914145,
          -0.2409901679874758,
          0.3039426777461978,
          0.6370827893756554
        ],
        [
          -0.16629323174603447,
          -0.11573884051839671,
          1.7768308082622646,
          -0.2750192887913316,
          0.3010118271348485,
          0.6769878835142824,
          0.6127345887841665
        ],
        [
          -0.12062978044087992,
          -0.1383715294219774,
          1.6839438312287383,
          0.01992154838576269,
          -0.6445017355102596,
          -0.7443372159233757,
          -0.17373184459279345
        ],
        [
          -0.10225603535468422,
          -0.13302131862096928,
          1.6760520167420518,
          0.7257531764158702,
          -0.29890463875605533,
          0.5423840078001516,
          -0.29959628157744406
        ],
        [
          -0.1143308950354842,
          -0.15401310715340824,
          1.6565381094475515,
          -0.08562629996238366,
          -0.4231492033401263,
          0.7905889892309297,
          -0.434260219884558
        ],
        [
          -0.12805863405303397,
          -0.12842202733324104,
          1.6259334251735083,
          0.4693037742795293,
          -0.11123694568160268,
          -0.4284158537389354,
          -0.7640943434076417
        ],
        [
          -0.09956348194691508,
          -0.1220401560667722,
          1.5860925162282122,
          -0.37635348380139677,
          -0.8671394406928413,
          0.22837554285753303,
          -0.2329632096490441
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.09880144188905762,
            -0.10797307657043573,
            1.566394426465188
          ],
          "distance_m": -0.0022752891059189405,
          "contact_frame": [
            -0.392169703201848,
            -0.2678233836530974,
            0.8800417939275271,
            -0.109014740659794,
            0.9634680249850568,
            0.24463268618537476,
            -0.9134104828659744,
            0.0,
            -0.4070396661144314
          ],
          "force_torque_contact_frame": [
            7.168327113133672,
            5.609250080876787,
            -1.5590770322568843,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 17,
      "physics_step": 113,
      "sim_time_s": 0.5650000000000004,
      "qpos": [
        -0.13865377922814826,
        -0.13805925685241766,
        1.6922444595086716,
        0.9607318960197829,
        0.17724581264672015,
        -0.04756943463073152,
        -0.20812326818102006,
        -0.39705065498794045,
        -0.0751774532309532,
        -0.08264315376129217,
        0.02495798789044492,
        0.03252974428252943,
        0.9896886815389846,
        0.25392080694271707,
        -1.3142742124620097,
        0.09924540429544942,
        -0.5949913520411053,
        0.42058299175934216,
        0.8389036538296759,
        0.3042152496102244,
        0.20905922726648066
      ],
      "qvel": [
        -0.65349126798456,
        -0.4918933466628398,
        -0.19048800579904962,
        0.683645340947267,
        1.3191766496356752,
        2.0920950644916245,
        2.948978476408299,
        -3.0545737167218774,
        -0.3653461980070393,
        -10.231464917500128,
        -7.62628632951873,
        4.247057151257437,
        3.698921411788313,
        -14.192338438347512,
        1.5176232897204058,
        1.679328102617865,
        -0.7297500192167791,
        7.952775110484281,
        5.234085030041737,
        4.9375765805062075
      ],
      "target_rad": [
        -1.4436677694320679,
        -0.6345787048339844,
        -0.18747848272323608,
        -1.130746841430664,
        -0.8279808163642883,
        0.8848282098770142,
        0.6347154378890991,
        -3.9214088916778564,
        0.3976784944534302,
        -1.9250726699829102,
        1.3426930904388428,
        1.3935761451721191,
        0.2576286196708679,
        0.3085269331932068
      ],
      "policy_call": 28,
      "body_poses": [
        [
          -0.13865377922814826,
          -0.13805925685241766,
          1.6922444595086716,
          0.9607318960197829,
          0.17724581264672015,
          -0.04756943463073152,
          -0.20812326818102006
        ],
        [
          -0.12567164120618435,
          -0.1240715866497638,
          1.69399350915933,
          0.05854166137148436,
          -0.7053140639542137,
          -0.6847285169879425,
          -0.1739304547678471
        ],
        [
          -0.10733356251642275,
          -0.12097670281658716,
          1.6849030436031962,
          -0.4798312330255101,
          -0.5261726024977367,
          -0.38123156627053484,
          -0.5895480243991081
        ],
        [
          -0.12522462226599226,
          -0.09577721469331321,
          1.6883881231377704,
          -0.6276504070850225,
          0.47830071393067125,
          -0.37940904215604704,
          -0.4830446897230585
        ],
        [
          -0.1545609438803933,
          -0.09157808624805942,
          1.6583589966295504,
          -0.07748974545363842,
          -0.11204422019169462,
          -0.7840429187903397,
          0.6055725667216846
        ],
        [
          -0.1428710277660212,
          -0.05629612531456708,
          1.6258239525397316,
          -0.0992776045191162,
          0.06763036977729409,
          -0.6067527727997172,
          -0.7857615179076831
        ],
        [
          -0.11482519923320991,
          -0.14696220866900073,
          1.7281657608022831,
          0.1631854986131459,
          0.5412478361640871,
          0.6222835299879108,
          -0.5414651246348713
        ],
        [
          -0.15734208627637764,
          -0.13834883853418437,
          1.753027863912824,
          -0.45809822883886137,
          0.09331197765803939,
          -0.5577695428929615,
          -0.685807571102288
        ],
        [
          -0.17658748531286325,
          -0.14989798218186476,
          1.760505422641559,
          -0.5386487786809978,
          -0.3098568630541735,
          0.25340126413767283,
          0.7413730619446091
        ],
        [
          -0.183131991291578,
          -0.13218280774193975,
          1.7736964057761702,
          -0.23832316459097158,
          0.33253291440497595,
          0.544239479415346,
          0.7324119872738224
        ],
        [
          -0.13907798373248248,
          -0.15384039054962362,
          1.6813804883300734,
          0.04106931440891252,
          -0.6342053195174997,
          -0.7510690271099068,
          -0.17886374877505376
        ],
        [
          -0.12105185559222201,
          -0.1476596402851994,
          1.6732961188160216,
          0.7306255929185548,
          -0.296022805194424,
          0.5514325477283529,
          -0.2729082026672179
        ],
        [
          -0.1328757706836349,
          -0.1682254374037899,
          1.653184106962703,
          -0.025635793747702085,
          -0.3396565920278531,
          0.840676560822605,
          -0.42099777393048765
        ],
        [
          -0.1381563022682041,
          -0.13839551960241556,
          1.6238192832009704,
          0.4631156806734864,
          -0.08913012348589447,
          -0.41225252050519945,
          -0.7795046803828903
        ],
        [
          -0.1085245590988756,
          -0.13001473191147217,
          1.5851964635935636,
          -0.3287562792835284,
          -0.8505264250542074,
          0.3141790583552766,
          -0.26422647181376685
        ]
      ],
      "terrain_contacts": []
    },
    {
      "frame": 18,
      "physics_step": 120,
      "sim_time_s": 0.6000000000000004,
      "qpos": [
        -0.16224502025299517,
        -0.15454669561505854,
        1.6772527701398514,
        0.9673835497511217,
        0.18819450040663402,
        -0.050089317478856386,
        -0.16199678380177315,
        -0.3232360671661424,
        -0.13886138345243693,
        -0.12097759385538238,
        -0.31818240347185067,
        -0.24377060730086333,
        1.0594978470868348,
        0.36939169491314605,
        -1.862051573410665,
        0.1783609870732174,
        -0.5530174304023757,
        0.4002838745948193,
        1.0748487371500048,
        0.38138596869113794,
        0.32111391845943515
      ],
      "qvel": [
        -0.6915079255044883,
        -0.45565262654868166,
        -0.6105151833743783,
        0.7995456529575695,
        -0.16340367068292078,
        2.8602383563823253,
        1.0572437786320554,
        -1.161934086908302,
        -1.6182911457350309,
        -9.164321415199666,
        -7.870933441054078,
        0.19273071191260555,
        2.8886516617831988,
        -16.467743591749073,
        2.982336793127989,
        0.7582654061880333,
        -0.37387966044085075,
        5.927101180295296,
        -0.18629623962962671,
        2.175856566479024
      ],
      "target_rad": [
        -1.4363157749176025,
        -0.7569184303283691,
        -0.7336275577545166,
        -1.0476200580596924,
        -0.976615846157074,
        0.9704707860946655,
        0.6878441572189331,
        -4.156577110290527,
        0.9002681970596313,
        -2.4894461631774902,
        1.7265591621398926,
        1.3766028881072998,
        -0.38312071561813354,
        0.3517799377441406
      ],
      "policy_call": 30,
      "body_poses": [
        [
          -0.16224502025299517,
          -0.15454669561505854,
          1.6772527701398514,
          0.9673835497511217,
          0.18819450040663402,
          -0.050089317478856386,
          -0.16199678380177315
        ],
        [
          -0.15064559103089056,
          -0.139459055232115,
          1.6795036253987157,
          0.06926952215578766,
          -0.6965449960731722,
          -0.690578712918827,
          -0.18201055741112676
        ],
        [
          -0.13238234016215603,
          -0.1357144979049014,
          1.6705074062968441,
          -0.48528735925460537,
          -0.5152598957719928,
          -0.39631296013682676,
          -0.5847558946982166
        ],
        [
          -0.15059670755503754,
          -0.1106383543220524,
          1.6730907846062435,
          -0.6239675239000698,
          0.4992250654560416,
          -0.3765617380049723,
          -0.46865778624610577
        ],
        [
          -0.17888379396357146,
          -0.10771912121060097,
          1.6419247822163454,
          0.012465362094083152,
          0.013962746953679592,
          -0.7802439574829094,
          0.6251951881266984
        ],
        [
          -0.18040173293947695,
          -0.07319359710062737,
          1.606630532738604,
          -0.08100581800379218,
          0.06364068489845524,
          -0.6220725614705811,
          -0.7761531092127514
        ],
        [
          -0.13858767832194502,
          -0.16175301455451527,
          1.7136643452547815,
          0.21012984786127065,
          0.5423149676629897,
          0.6293369908324944,
          -0.5154365866490173
        ],
        [
          -0.18354842645865882,
          -0.1557749746537453,
          1.7347070201306567,
          -0.41751515331644956,
          0.1118973188097871,
          -0.5452599543903545,
          -0.7182281454611414
        ],
        [
          -0.20131182582627521,
          -0.16954757759082184,
          1.7420866569004574,
          -0.3600164373679328,
          -0.37333541799982506,
          0.12537322700422376,
          0.8457484167542637
        ],
        [
          -0.20350735327002062,
          -0.15779421766953164,
          1.7617767099680437,
          -0.24203218398824616,
          0.3632871322610349,
          0.3121074228038983,
          0.8438197900488827
        ],
        [
          -0.16095564530875528,
          -0.17014284627593554,
          1.666191685346017,
          0.04794750760596065,
          -0.6127862738020098,
          -0.7658765389611091,
          -0.18875154628022672
        ],
        [
          -0.14319591287898842,
          -0.16286172478637018,
          1.6584407387020723,
          0.740953765438013,
          -0.307057716097853,
          0.5390146125292544,
          -0.25722815543392014
        ],
        [
          -0.15373071218040923,
          -0.183954899044389,
          1.6381590720200752,
          0.04049156757840924,
          -0.25629870371226743,
          0.8687416136754762,
          -0.4218523629173872
        ],
        [
          -0.15054936370265504,
          -0.15221453846840127,
          1.6105469475675929,
          0.41631354084101113,
          -0.040200046288542804,
          -0.4218802429864888,
          -0.8044153482924594
        ],
        [
          -0.1157922963517623,
          -0.14402581299213765,
          1.5764164473626459,
          -0.2793911374153177,
          -0.8082112336418393,
          0.4088956085252017,
          -0.31865275062003595
        ]
      ],
      "terrain_contacts": []
    },
    {
      "frame": 19,
      "physics_step": 127,
      "sim_time_s": 0.6350000000000005,
      "qpos": [
        -0.18860387767356362,
        -0.16857563231213166,
        1.6539191762055347,
        0.9661170247265276,
        0.226850809040968,
        -0.0757517608399777,
        -0.09704780111193675,
        -0.3966500888668905,
        -0.22220724879946113,
        -0.22317644519844365,
        -0.5848094323964488,
        -0.4942984922161964,
        1.0535780099316676,
        0.45952455545889825,
        -2.459676087026914,
        0.34490548201722016,
        -0.5394284043117118,
        0.39480115276247485,
        1.2345909763345129,
        0.27349388334645097,
        0.36739326229772173
      ],
      "qvel": [
        -0.7663936691865888,
        -0.384207307950513,
        -0.7285334954475757,
        3.5957070528952038,
        -1.1179863036805333,
        4.14543032003673,
        -4.618805824667647,
        -3.270657087022261,
        -2.7503874973581226,
        -5.754259714042626,
        -6.127761003353633,
        -0.17289077856773452,
        2.5117644598527877,
        -17.38622582849106,
        6.250580441247831,
        0.22136007108143865,
        -0.0921497029708223,
        3.6180086564056753,
        -3.731078209579154,
        0.8957205304635713
      ],
      "target_rad": [
        -1.4644615650177002,
        -0.7930264472961426,
        -0.4149923026561737,
        -0.6041010022163391,
        -0.8062884211540222,
        1.3018020391464233,
        0.7060267925262451,
        -4.436826705932617,
        1.2723331451416016,
        -3.0599114894866943,
        1.9049773216247559,
        1.1851389408111572,
        0.09268262982368469,
        0.3409687280654907
      ],
      "policy_call": 31,
      "body_poses": [
        [
          -0.18860387767356362,
          -0.16857563231213166,
          1.6539191762055347,
          0.9661170247265276,
          0.226850809040968,
          -0.0757517608399777,
          -0.09704780111193675
        ],
        [
          -0.1791536210910527,
          -0.15241961480086003,
          1.6580332676848522,
          0.0625903883863222,
          -0.6159565512377122,
          -0.7505983667411245,
          -0.23082907553977736
        ],
        [
          -0.16103974926765596,
          -0.1449028822883681,
          1.6514085880774145,
          -0.4658209086338072,
          -0.4360966034686726,
          -0.41846479555350197,
          -0.6463109533382722
        ],
        [
          -0.1833222764685513,
          -0.12321574291085596,
          1.6507706482983442,
          -0.6189985485537797,
          0.5813776106591685,
          -0.27399947734404184,
          -0.4514035413327427
        ],
        [
          -0.20424055191342894,
          -0.12478733696779853,
          1.6141652289052761,
          -0.03377401977265057,
          0.10470011557492201,
          -0.7589217654264667,
          0.6418215915260006
        ],
        [
          -0.2139214581767073,
          -0.09316576676911194,
          1.5774725000330438,
          -0.08414457426254299,
          0.18976351952342424,
          -0.6140565498540463,
          -0.7614749180778067
        ],
        [
          -0.1673444227788102,
          -0.17534480454508544,
          1.6918614685336024,
          0.24979595981015987,
          0.529728511370518,
          0.6677601925455852,
          -0.4594409733090612
        ],
        [
          -0.21419423394416165,
          -0.1761749741736851,
          1.7093087036199608,
          -0.3637277947596485,
          0.13859559344348768,
          -0.5042571674956182,
          -0.7708554091570125
        ],
        [
          -0.2295101546240012,
          -0.19315006382424418,
          1.7153874282143426,
          -0.15147144423691128,
          -0.3977863518281408,
          -0.058887372973086424,
          0.9029699314951577
        ],
        [
          -0.2282541234157197,
          -0.19238152655858012,
          1.738376376343283,
          -0.30437220322975284,
          0.3631541092408118,
          0.003197287912531162,
          0.8806057189188481
        ],
        [
          -0.18451388401541094,
          -0.18315804523243573,
          1.6421771497493383,
          0.045966263101167845,
          -0.5608485516642072,
          -0.7926217781913771,
          -0.23470560600337842
        ],
        [
          -0.1671080056390014,
          -0.17356077110072335,
          1.6363954780891345,
          0.7837257798717777,
          -0.30269268969619056,
          0.498120942049527,
          -0.2145380261411704
        ],
        [
          -0.1736627422077058,
          -0.1943299992628036,
          1.6141935729892036,
          0.13791411070701037,
          -0.21310817005828644,
          0.8831964897223362,
          -0.39437110247132245
        ],
        [
          -0.16572057859318046,
          -0.15970527758802683,
          1.5914328267256395,
          0.33151710346164975,
          0.08286551797665032,
          -0.4094901394747049,
          -0.845900432507187
        ],
        [
          -0.1228251363991609,
          -0.1498824399747288,
          1.5689941792574362,
          -0.16347810098963245,
          -0.7521125171908326,
          0.5096841110808907,
          -0.3844785805391184
        ]
      ],
      "terrain_contacts": []
    },
    {
      "frame": 20,
      "physics_step": 133,
      "sim_time_s": 0.6650000000000005,
      "qpos": [
        -0.21177249855796146,
        -0.18052227522530312,
        1.6272161165225947,
        0.95428664492499,
        0.27065942731278425,
        -0.12310547438518764,
        -0.030422292828092876,
        -0.47784931000501446,
        -0.34058939824430673,
        -0.2247400938865699,
        -0.6452331255661669,
        -0.6029713481752479,
        1.0516877069697599,
        0.5400080239356158,
        -2.9908203209420607,
        0.4893668579352571,
        -0.5356725267311307,
        0.3933515445494661,
        1.3277084828331898,
        0.24442666150815923,
        0.4009901739239121
      ],
      "qvel": [
        -0.7673217416242124,
        -0.4165737791721131,
        -0.9873663180133988,
        3.62851194664109,
        -2.8756727684616967,
        5.652643073391572,
        0.17631864415733012,
        -4.224473966149521,
        2.438091678526086,
        0.5676132221365661,
        -1.7686948153059157,
        -0.016166971749851457,
        3.0018659083447754,
        -17.937550958677704,
        0.63418456714136,
        0.07676587497875541,
        -0.02503821606962274,
        3.7436724386510174,
        1.1782222065262566,
        1.6614554245564257
      ],
      "target_rad": [
        -1.317732572555542,
        -0.7240666151046753,
        0.7991316914558411,
        0.005014997906982899,
        -0.3541393280029297,
        2.0453062057495117,
        0.8727948069572449,
        -5.423190593719482,
        1.5929794311523438,
        -4.134138107299805,
        2.233332395553589,
        1.8803465366363525,
        1.1985474824905396,
        0.6794731020927429
      ],
      "policy_call": 33,
      "body_poses": [
        [
          -0.21177249855796146,
          -0.18052227522530312,
          1.6272161165225947,
          0.95428664492499,
          0.27065942731278425,
          -0.12310547438518764,
          -0.030422292828092876
        ],
        [
          -0.20485842676836347,
          -0.16382144635682885,
          1.6335822712799204,
          0.03547893491038345,
          -0.5219130246814039,
          -0.7994969113455164,
          -0.29521640976495733
        ],
        [
          -0.18760014711109002,
          -0.15282292402597805,
          1.630470312120626,
          -0.4701707698146545,
          -0.32800377381026435,
          -0.4182174491962062,
          -0.7045900487275825
        ],
        [
          -0.21199424284537732,
          -0.13459699710951117,
          1.6241462563537916,
          -0.5938349512327821,
          0.6571933562895517,
          -0.18336389370748477,
          -0.42642071435105255
        ],
        [
          -0.22484540824994154,
          -0.1406434543738541,
          1.5844185734776786,
          -0.12932003787017873,
          0.11645629685766606,
          -0.7217426867350323,
          0.6699266772356152
        ],
        [
          -0.23353875190612033,
          -0.11312237896200344,
          1.5443309671104881,
          -0.1031099977836008,
          0.3224147277940678,
          -0.601310376068943,
          -0.7237699242786824
        ],
        [
          -0.1948845798039855,
          -0.18792105533756548,
          1.6671843528517034,
          0.2993208926850525,
          0.5286609017996254,
          0.694657813967805,
          -0.38519498387712553
        ],
        [
          -0.2431381130846137,
          -0.19513530286799619,
          1.6781182980914133,
          -0.32421766276587094,
          0.18573134387729856,
          -0.45107875177557233,
          -0.8105027666508973
        ],
        [
          -0.2559702747607899,
          -0.21464014861478808,
          1.6819364922614795,
          0.030460218172534262,
          -0.37870559970488005,
          -0.2262716833253638,
          0.8969143600066584
        ],
        [
          -0.2532880573180517,
          -0.22423684182347656,
          1.7027059214555662,
          -0.352844124185294,
          0.3115373390742236,
          -0.26489673575313905,
          0.8415908921666128
        ],
        [
          -0.20455826190740128,
          -0.19362870345223465,
          1.6152400433480518,
          0.026930115652635464,
          -0.49858338973206273,
          -0.8142500353493378,
          -0.2961186456267523
        ],
        [
          -0.18775524242657865,
          -0.18186212971235566,
          1.612464024841074,
          0.8351839201955831,
          -0.28669778698302856,
          0.4360237030458544,
          -0.1736534732389495
        ],
        [
          -0.18908485627310673,
          -0.2014220596701216,
          1.5883208836397638,
          0.2406993097899395,
          -0.1883292384788709,
          0.8825565234377206,
          -0.3573372680509796
        ],
        [
          -0.1791711302166244,
          -0.16406150097493055,
          1.571412081965186,
          0.29451640724905614,
          0.1953412462226702,
          -0.38401546634955347,
          -0.8530146569606031
        ],
        [
          -0.13311672632832083,
          -0.15069932794040244,
          1.5595611657859054,
          -0.049153259472602004,
          -0.7165228853952637,
          0.5486063013066411,
          -0.4280304170905497
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.11892790879182177,
            -0.13282782093864362,
            1.550951461330001
          ],
          "distance_m": -0.0003573007591563683,
          "contact_frame": [
            -0.3921572515266703,
            -0.26782494673326945,
            0.8800468669237845,
            -0.10901196473952779,
            0.9634675904810298,
            0.24463563443682235,
            -0.9134161601475397,
            0.0,
            -0.40702692586771727
          ],
          "force_torque_contact_frame": [
            3.5913023865507028,
            1.6984829036137425,
            -1.8928194829369602,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 21,
      "physics_step": 140,
      "sim_time_s": 0.7000000000000005,
      "qpos": [
        -0.23779399482819197,
        -0.19943466198137433,
        1.5955467746389893,
        0.9083752862134501,
        0.3567649301877628,
        -0.21714935582401582,
        -0.020476358317989572,
        -0.4566447758292909,
        -0.40830684740222034,
        -0.05388812118015491,
        -0.538362307511875,
        -0.6137780367487699,
        1.054365697543445,
        0.6401094665701131,
        -3.0478797703447214,
        0.4653207301276474,
        -0.5338562462736618,
        0.3933560507903308,
        1.4799814110393361,
        0.39231380015446043,
        0.4810749468856454
      ],
      "qvel": [
        -0.7482034177869957,
        -0.7920985125398673,
        -0.5451217965007619,
        7.113234445698093,
        -6.397029906956502,
        -0.5943181752323832,
        0.4504923860859304,
        0.023153885030089222,
        2.8407188757873723,
        3.5217729719529434,
        0.38894332506650636,
        0.17868040790148562,
        1.6550158470336127,
        1.777334500103501,
        -0.7183787247258127,
        0.02996667220712621,
        0.01626182120889827,
        3.4209502285072806,
        6.137665206526895,
        2.4868304139013504
      ],
      "target_rad": [
        -1.138775110244751,
        -0.7921389937400818,
        1.2740089893341064,
        0.45683324337005615,
        -0.7194028496742249,
        2.7539381980895996,
        0.9373787045478821,
        -5.833191394805908,
        2.0022213459014893,
        -4.936008453369141,
        2.5494422912597656,
        1.872804880142212,
        0.7890008091926575,
        0.9046230912208557
      ],
      "policy_call": 35,
      "body_poses": [
        [
          -0.23779399482819197,
          -0.19943466198137433,
          1.5955467746389893,
          0.9083752862134501,
          0.3567649301877628,
          -0.21714935582401582,
          -0.020476358317989572
        ],
        [
          -0.23237977576038435,
          -0.18436073710044343,
          1.6060688001364798,
          0.004306475574737817,
          -0.4976442278019142,
          -0.760207316716151,
          -0.4176320299196273
        ],
        [
          -0.21472214381786875,
          -0.17379817422766564,
          1.6083360230503698,
          -0.5104502486859642,
          -0.2984510818726282,
          -0.3091651979137954,
          -0.7448384897039215
        ],
        [
          -0.23630463687875164,
          -0.15305803749738048,
          1.5998925213072528,
          -0.6334035779527335,
          0.6377991982453736,
          -0.16949271903297494,
          -0.40408453119247584
        ],
        [
          -0.24759960037545964,
          -0.15534654605802037,
          1.5593069646080289,
          -0.16740705361987485,
          0.038785373323507344,
          -0.7503199955542458,
          0.6383498080879673
        ],
        [
          -0.24888663330288832,
          -0.12313347643734356,
          1.5218815495554587,
          -0.18969428067982935,
          0.35242740859726274,
          -0.55795207747355,
          -0.7269803854229695
        ],
        [
          -0.2292392353260472,
          -0.2143594632288494,
          1.6360618343061528,
          0.31642025716650346,
          0.5952818416397216,
          0.6885945124691484,
          -0.2671242169217894
        ],
        [
          -0.27868236761999066,
          -0.22178788140364353,
          1.63561993795633,
          -0.34840777496293196,
          0.21630964233461036,
          -0.35311083960205514,
          -0.8409131322163912
        ],
        [
          -0.29078414680717407,
          -0.24207784876185323,
          1.6343764940623657,
          0.053758431114218456,
          -0.4150334413648184,
          -0.32584607038965535,
          0.847750913915539
        ],
        [
          -0.28986575304090334,
          -0.2559146924706118,
          1.652771012514053,
          -0.39308989406131456,
          0.23584432774050862,
          -0.3317370153886534,
          0.8245049065230107
        ],
        [
          -0.22825880177576316,
          -0.21042170233411414,
          1.5830721989852774,
          -0.011815720125522289,
          -0.4679323559059199,
          -0.7788480289181384,
          -0.4174870619607026
        ],
        [
          -0.21128083857404673,
          -0.1989084044033898,
          1.5858457772299894,
          0.8959183501133848,
          -0.18756958835891202,
          0.3662372406799843,
          -0.1673865077958431
        ],
        [
          -0.20769030200971073,
          -0.2137909079674718,
          1.5587742214038969,
          0.3627620628819988,
          -0.0547681506661048,
          0.8909110481572231,
          -0.2677342706446219
        ],
        [
          -0.19085710143947388,
          -0.175187918853445,
          1.5562338524475248,
          0.22735764532528707,
          0.30362353981439716,
          -0.3333027152823482,
          -0.8631515203995925
        ],
        [
          -0.14337461056768064,
          -0.16157303630839093,
          1.5564530188100072,
          0.08690825053496823,
          -0.6418066786799326,
          0.620327520957938,
          -0.4424080807726754
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.23773311526870577,
            -0.1440143305684677,
            1.4929356160129832
          ],
          "distance_m": -0.003297133442276047,
          "contact_frame": [
            -0.3900895222511384,
            -0.26576653035806397,
            0.8815885185115075,
            -0.10754016024036771,
            0.9640374221685776,
            0.24303695725967228,
            -0.9144754116789333,
            1.3877787807814457e-17,
            -0.4046414727071922
          ],
          "force_torque_contact_frame": [
            16.285800474728035,
            -3.4239835625507684,
            -2.5019634969867597,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 22,
      "physics_step": 147,
      "sim_time_s": 0.7350000000000005,
      "qpos": [
        -0.26708605727295853,
        -0.23019692980160059,
        1.5742349489650216,
        0.8294574246111972,
        0.47205916335713205,
        -0.29650363749096575,
        -0.03530042496272026,
        -0.4457336605967814,
        -0.3982133521053781,
        -0.06093092142598733,
        -0.3953885911626892,
        -0.6072153988697773,
        1.0558732894454945,
        0.6944541487905527,
        -3.000747564267274,
        0.45119272185165077,
        -0.5335589571322746,
        0.39348529446029584,
        1.5893363831498983,
        0.577548094757466,
        0.5889873677275399
      ],
      "qvel": [
        -0.8580247113772993,
        -0.8896937575757271,
        -0.7450550335307269,
        7.674001143958742,
        -5.060779392913668,
        -0.41398699666821065,
        0.21599796568215662,
        0.29593534801335464,
        -0.9342249883504102,
        4.551005558154508,
        -0.0074752032472009955,
        -0.026848460763918378,
        1.8648944001920447,
        0.8848619316045527,
        -0.232367678700514,
        -0.000915866456368623,
        0.001860860942067187,
        1.767711496968756,
        4.6365922877267645,
        3.388630543676198
      ],
      "target_rad": [
        -1.1542872190475464,
        -0.8060135245323181,
        1.2791481018066406,
        0.31321725249290466,
        -0.6542583107948303,
        2.615248680114746,
        0.8986945748329163,
        -5.701270580291748,
        2.0000486373901367,
        -5.061189651489258,
        2.5923972129821777,
        1.9097776412963867,
        0.8853729367256165,
        0.9505535960197449
      ],
      "policy_call": 36,
      "body_poses": [
        [
          -0.26708605727295853,
          -0.23019692980160059,
          1.5742349489650216,
          0.8294574246111972,
          0.47205916335713205,
          -0.29650363749096575,
          -0.03530042496272026
        ],
        [
          -0.26340402035279953,
          -0.21876004565004414,
          1.5891644595069805,
          0.0009481895376867444,
          -0.47223475146667115,
          -0.6828177492950808,
          -0.5574525645213323
        ],
        [
          -0.2461806927902011,
          -0.21034693654472525,
          1.596979610359871,
          -0.5001319333426607,
          -0.3104468397573923,
          -0.15307521775288468,
          -0.793762424561334
        ],
        [
          -0.26580545034749886,
          -0.18687247004355106,
          1.5914057146573541,
          -0.7368279865095653,
          0.5705851861841235,
          -0.06759669877735502,
          -0.3562972774494531
        ],
        [
          -0.2699092071221057,
          -0.17717654898043791,
          1.550550492476062,
          -0.2601068221958291,
          -0.11201917925087876,
          -0.8107496130752034,
          0.5123292002468282
        ],
        [
          -0.25906802376672117,
          -0.1351646294922948,
          1.5269397456776925,
          -0.3492815149407072,
          0.4013790282997686,
          -0.4111345813958012,
          -0.7401794748183423
        ],
        [
          -0.2659601681619186,
          -0.25570706811996946,
          1.610086990454138,
          0.2868591096177209,
          0.6662854743425193,
          0.676818549530751,
          -0.12526838755480482
        ],
        [
          -0.3146490428054317,
          -0.2597442178959277,
          1.5994523814987163,
          -0.39620578824132446,
          0.22711154766812336,
          -0.2154081303178738,
          -0.8631573759592259
        ],
        [
          -0.32605374340486587,
          -0.27883523092030454,
          1.5913809495594418,
          0.06560717351232116,
          -0.47188828327536564,
          -0.42587937417128474,
          0.769183921794149
        ],
        [
          -0.3276161085950384,
          -0.29643846655038636,
          1.6061574549096373,
          -0.4445974529318473,
          0.1271540327212819,
          -0.385750843914612,
          0.7983490735438938
        ],
        [
          -0.25565592618996447,
          -0.2380740274902052,
          1.5610230817453683,
          -0.023524076375271888,
          -0.4418048145934736,
          -0.7028899238481192,
          -0.5569568013638938
        ],
        [
          -0.2392754378555586,
          -0.22872481895466237,
          1.5695537266028996,
          0.937979248216119,
          -0.043383877979681074,
          0.3102345326243102,
          -0.1485506775977276
        ],
        [
          -0.23119629185956317,
          -0.2361651326618522,
          1.5404570063080967,
          0.4451215669708374,
          0.08254276106742242,
          0.8818931578180529,
          -0.13159764969973986
        ],
        [
          -0.2118673004954848,
          -0.20151789736892964,
          1.554808315092115,
          0.17201813500050805,
          0.38921472173449784,
          -0.2529091757414241,
          -0.8688835425083604
        ],
        [
          -0.16523014491019689,
          -0.18863974724719648,
          1.5647646682575944,
          0.22402372856109593,
          -0.5613163033103502,
          0.6851808935229686,
          -0.4065273912427716
        ]
      ],
      "terrain_contacts": []
    },
    {
      "frame": 23,
      "physics_step": 153,
      "sim_time_s": 0.7650000000000006,
      "qpos": [
        -0.29291684313052513,
        -0.25737843749127504,
        1.5468956869027124,
        0.7444794548103547,
        0.5614362280381259,
        -0.3593058318710436,
        -0.03793444865888959,
        -0.4413484157513948,
        -0.391661691136986,
        -0.08426110057319913,
        -0.2736075904594868,
        -0.594032901217639,
        1.0543974172154664,
        0.7420696749627285,
        -2.9850973271225105,
        0.4470220645043784,
        -0.5335762634021243,
        0.3934836377258002,
        1.5886832361142298,
        0.698507865974271,
        0.6849127291711938
      ],
      "qvel": [
        -0.8631218435614751,
        -0.9149388640103371,
        -1.0355281856278724,
        7.7796471648735,
        -4.838005729872737,
        -0.040435787751201366,
        0.11457717258147024,
        0.17612085859991825,
        -0.5947496156374444,
        3.4249014453493505,
        1.0057848632837756,
        -0.06974187680263119,
        1.0767094379049624,
        0.335004903373446,
        -0.09314137816387219,
        0.0009547118290560369,
        -0.0017393626987083815,
        -0.38279829477566046,
        3.5106273496393374,
        2.736565677224483
      ],
      "target_rad": [
        -0.7688055038452148,
        -0.44118136167526245,
        0.7999110817909241,
        -0.0824035108089447,
        -0.25688356161117554,
        1.8612138032913208,
        0.5556795597076416,
        -4.6129961013793945,
        1.8613163232803345,
        -4.135304927825928,
        2.1951723098754883,
        2.1953532695770264,
        0.7757269740104675,
        0.6937972903251648
      ],
      "policy_call": 38,
      "body_poses": [
        [
          -0.29291684313052513,
          -0.25737843749127504,
          1.5468956869027124,
          0.7444794548103547,
          0.5614362280381259,
          -0.3593058318710436,
          -0.03793444865888959
        ],
        [
          -0.29166738999873015,
          -0.24967732367056072,
          1.5643994497207996,
          -0.0030477737696958974,
          -0.43047709702099723,
          -0.6085870110100552,
          -0.6665598473095051
        ],
        [
          -0.2758691592855288,
          -0.24384584647880592,
          1.5764372975390146,
          -0.4761365016450888,
          -0.304437774933435,
          -0.018600517611434338,
          -0.8247822098829135
        ],
        [
          -0.2945179390433987,
          -0.2191316009065752,
          1.5734912698171595,
          -0.8068189951341529,
          0.5065510878842777,
          0.03416899129496564,
          -0.30212842383307015
        ],
        [
          -0.2913445848251998,
          -0.19994629651037382,
          1.5360499183105574,
          -0.3332211185121027,
          -0.24659625766258192,
          -0.8254869842123187,
          0.38304726964227787
        ],
        [
          -0.27291547080303974,
          -0.15466390617275222,
          1.528987844842411,
          -0.477392899519016,
          0.4307365858472262,
          -0.26875177806953365,
          -0.7171711754427713
        ],
        [
          -0.2974622409439571,
          -0.29023876739254506,
          1.5758256322837072,
          0.26150732298023194,
          0.7073386383541471,
          0.6567190086207784,
          0.0024727383917502455
        ],
        [
          -0.3438498499581421,
          -0.2902053610181597,
          1.5571658194775388,
          -0.4210928986275659,
          0.24460900386684062,
          -0.09251286199612103,
          -0.8684978850394464
        ],
        [
          -0.3533376064841014,
          -0.30726635405349234,
          1.543802175499849,
          0.07129316261462992,
          -0.5121730472299617,
          -0.5102300061514282,
          0.6872127730756253
        ],
        [
          -0.3562727530829782,
          -0.32748533886405606,
          1.5544434896890502,
          -0.4906386735466718,
          0.02954880517881367,
          -0.428405087306892,
          0.7582015835531071
        ],
        [
          -0.2795233774676127,
          -0.2625118474321494,
          1.5341869033293205,
          -0.033771331070991506,
          -0.40196508496380756,
          -0.6277840006720591,
          -0.6657107601413053
        ],
        [
          -0.2647179826250838,
          -0.255859798331963,
          1.547034102491999,
          0.957222562433978,
          0.07719328711901141,
          0.2500874570395778,
          -0.1233791968792404
        ],
        [
          -0.25211130724019826,
          -0.2569239826467252,
          1.5186230263510934,
          0.5002921059840185,
          0.14945539112422784,
          0.8523945613934532,
          -0.028185217062147022
        ],
        [
          -0.23536023950137805,
          -0.2269965968701761,
          1.543194436457171,
          0.15125424544132934,
          0.46044371584911264,
          -0.197682023223729,
          -0.8520772004139114
        ],
        [
          -0.19113452597294767,
          -0.21366225722775314,
          1.560695340696716,
          0.3312821069149302,
          -0.5018570320755366,
          0.7050198022648503,
          -0.3759504799953978
        ]
      ],
      "terrain_contacts": []
    },
    {
      "frame": 24,
      "physics_step": 160,
      "sim_time_s": 0.8000000000000006,
      "qpos": [
        -0.3232625645273236,
        -0.2898278502816596,
        1.5035188910723571,
        0.6314628298641985,
        0.653236712850479,
        -0.4167311394250421,
        -0.02952370094865702,
        -0.4384103976714646,
        -0.38722248978111273,
        -0.09346863435747228,
        -0.19122134701720714,
        -0.5209714618528314,
        1.0516824257236408,
        0.7387611102263012,
        -2.9773999837856686,
        0.4451000700322454,
        -0.5335128667556338,
        0.39280540639858585,
        1.5790703759279856,
        0.7675171901589279,
        0.7226997199500887
      ],
      "qvel": [
        -0.8709969737257295,
        -0.9355344949553938,
        -1.39390475366903,
        7.928054421701012,
        -3.887516381741504,
        0.12828710373833818,
        0.0668835861198313,
        0.09419633117751383,
        -0.07286166895747123,
        1.7549624319986026,
        2.7902113111461126,
        -0.0724162221024114,
        -0.942712309997483,
        0.17698524663989842,
        -0.03456287890824301,
        0.0018184159070989585,
        -0.036724599432575784,
        -0.17699207113703946,
        0.631005575722269,
        -0.3516605047880623
      ],
      "target_rad": [
        -0.29586535692214966,
        0.007136017084121704,
        0.7082018256187439,
        0.01182424183934927,
        -0.04091745615005493,
        1.4616693258285522,
        0.35876205563545227,
        -3.4170022010803223,
        1.772918939590454,
        -2.7984392642974854,
        1.4576332569122314,
        2.156602144241333,
        0.33720606565475464,
        0.18672198057174683
      ],
      "policy_call": 40,
      "body_poses": [
        [
          -0.3232625645273236,
          -0.2898278502816596,
          1.5035188910723571,
          0.6314628298641985,
          0.653236712850479,
          -0.4167311394250421,
          -0.02952370094865702
        ],
        [
          -0.3254079741225036,
          -0.2867819889149297,
          1.5223170278471434,
          -0.0012887432601170756,
          -0.3636476907730802,
          -0.5170854005028702,
          -0.7748428129130466
        ],
        [
          -0.3121748042073907,
          -0.28445370138665604,
          1.5380638462935292,
          -0.4289945702956496,
          -0.28650701178184795,
          0.12955762211225574,
          -0.8468129742802156
        ],
        [
          -0.3307890922700094,
          -0.2595387733178761,
          1.5381319583289732,
          -0.8584382561110615,
          0.4233085515135735,
          0.15037452905922485,
          -0.24755026089805765
        ],
        [
          -0.3212603636574418,
          -0.23142657077393877,
          1.508150159124011,
          -0.38537834218743594,
          -0.3553315261824146,
          -0.8197175597280887,
          0.23083795646982935
        ],
        [
          -0.30148254697873084,
          -0.18754822180365396,
          1.5192644948695788,
          -0.5544626120679734,
          0.43182989964154883,
          -0.12379647228363654,
          -0.7005487727806371
        ],
        [
          -0.33200631978703715,
          -0.3288026520821004,
          1.5220098410432101,
          0.2290794691839798,
          0.7288925702605193,
          0.6273067589490346,
          0.15074630341821957
        ],
        [
          -0.37427695505740366,
          -0.32340176938457604,
          1.4958559912323843,
          -0.45324814189219986,
          0.2680534458036611,
          0.0578722851514919,
          -0.8481534475997823
        ],
        [
          -0.38071529171252844,
          -0.3363891577110544,
          1.4771595329265306,
          0.08468637884309307,
          -0.5608559583542414,
          -0.596674030261559,
          0.5676697216061621
        ],
        [
          -0.3850316904236278,
          -0.3585358988035049,
          1.4818017911217178,
          -0.5292314183179507,
          -0.10164124990628623,
          -0.47097587363891985,
          0.6984016671176507
        ],
        [
          -0.3076573069287094,
          -0.29185069927959134,
          1.4925811574308545,
          -0.038118135373275935,
          -0.3386578586007453,
          -0.5337862954645474,
          -0.7739057134676405
        ],
        [
          -0.2956044565062195,
          -0.2888953513877937,
          1.5091490394781029,
          0.9588908921277075,
          0.20799628112605453,
          0.1752948290955135,
          -0.08085497464371352
        ],
        [
          -0.27806477670558505,
          -0.2830449623530164,
          1.4841413890360287,
          0.5537094205965212,
          0.20756477843947047,
          0.8011385721862221,
          0.09219397187159334
        ],
        [
          -0.2669065809372351,
          -0.2601930897552548,
          1.5178057243239984,
          0.10748560918202515,
          0.5479529683216735,
          -0.12182526591090378,
          -0.8205808874888411
        ],
        [
          -0.22703607412750884,
          -0.24931251909614188,
          1.544860407261849,
          0.4492957312752816,
          -0.4355966163054771,
          0.70367729603592,
          -0.33649249139409515
        ]
      ],
      "terrain_contacts": []
    },
    {
      "frame": 25,
      "physics_step": 167,
      "sim_time_s": 0.8350000000000006,
      "qpos": [
        -0.34640493439292164,
        -0.32342408980189946,
        1.4684013924126085,
        0.5456238427723497,
        0.7360186397504088,
        -0.4002920723899375,
        -0.018369565048270094,
        -0.43709542112437827,
        -0.38053013583128575,
        -0.09182023144921587,
        -0.15007241470900598,
        -0.3945227327725032,
        1.0557273288831288,
        0.5314433196554043,
        -2.9734999054412095,
        0.44947691265075124,
        -0.532978682350791,
        0.3902350949786053,
        1.5750800122923925,
        0.7103436496275932,
        0.631614889634776
      ],
      "qvel": [
        -0.32816858876145133,
        -0.9678346442551877,
        -0.33143230781429833,
        5.042972631597047,
        1.8226177165222703,
        -5.436663936660274,
        -0.026559467853754026,
        0.3127610403609232,
        0.0784637214013898,
        0.4883220854243562,
        4.141856194046391,
        0.20257477858106426,
        -11.32080233788979,
        0.07199072075193869,
        0.1710073377359443,
        0.04035452822613697,
        -0.09933736500122756,
        -0.09190414193569907,
        -3.275817350791778,
        -4.272660341246598
      ],
      "target_rad": [
        -0.16172786056995392,
        0.19933834671974182,
        0.6376311182975769,
        -0.06696557253599167,
        0.08085620403289795,
        1.2970082759857178,
        0.5793157815933228,
        -3.0222599506378174,
        1.512844443321228,
        -2.004875421524048,
        0.9973829984664917,
        1.898766040802002,
        0.140755295753479,
        -0.1442100703716278
      ],
      "policy_call": 41,
      "body_poses": [
        [
          -0.34640493439292164,
          -0.32342408980189946,
          1.4684013924126085,
          0.5456238427723497,
          0.7360186397504088,
          -0.4002920723899375,
          -0.018369565048270094
        ],
        [
          -0.34997348058040445,
          -0.32460960288463697,
          1.487192614747477,
          0.05754069919188376,
          -0.3084843730681026,
          -0.4504222577698709,
          -0.835850614173838
        ],
        [
          -0.3380028088875976,
          -0.3244493920040575,
          1.5040798096506212,
          -0.3462518471461512,
          -0.30569055742620266,
          0.21867320096905657,
          -0.8595609185079809
        ],
        [
          -0.3592565712528671,
          -0.30203955311782205,
          1.5077303858261892,
          -0.8779524195698569,
          0.3305833737998585,
          0.2285584758649804,
          -0.2601445848923542
        ],
        [
          -0.3511756163897702,
          -0.26739705427775384,
          1.4850456701121568,
          -0.38885223429893934,
          -0.3752976460606265,
          -0.8352408831820518,
          0.1015789535452229
        ],
        [
          -0.3364331855518507,
          -0.2260945816612603,
          1.5077781686275635,
          -0.5317137981132671,
          0.40121912191859144,
          -0.023400002766970865,
          -0.745490504951837
        ],
        [
          -0.35204701081000733,
          -0.36604886405886555,
          1.4778194206296216,
          0.16548943636936295,
          0.7122154114844272,
          0.6337915410281507,
          0.25233060974717625
        ],
        [
          -0.3930108160902989,
          -0.3589567111617342,
          1.4500405073275848,
          -0.5207817070140361,
          0.22594474179520252,
          0.20001615889805122,
          -0.7985793157065344
        ],
        [
          -0.39861622791779966,
          -0.3647947106312424,
          1.4278103676958116,
          0.17221471596491963,
          -0.5854279844285942,
          -0.6592956322272131,
          0.43925554746538625
        ],
        [
          -0.40479766324705957,
          -0.38679519566807197,
          1.4249071771380948,
          -0.4972262991054589,
          -0.23178946335061507,
          -0.5501468575924217,
          0.6295856472623145
        ],
        [
          -0.33005151180379105,
          -0.3216653413560297,
          1.458566639059043,
          0.01741789319271042,
          -0.28654422421050646,
          -0.46468831090670587,
          -0.8376477769772926
        ],
        [
          -0.31937773501257105,
          -0.32117356406647635,
          1.4762959550105594,
          0.94031259448167,
          0.3003897485128283,
          0.15972434085746567,
          -0.008146077902852294
        ],
        [
          -0.3011231672042039,
          -0.308658407863757,
          1.4544466616729876,
          0.5515153753280125,
          0.21983329202668433,
          0.7773745116498694,
          0.20782921625854295
        ],
        [
          -0.29440187747383656,
          -0.2923150889115378,
          1.4927575096719095,
          0.06422034808780722,
          0.5893664241883836,
          0.0030676364251737143,
          -0.8053033928511932
        ],
        [
          -0.2572560160493153,
          -0.2860261169822317,
          1.524704869673992,
          0.5269577846290255,
          -0.4216856993323358,
          0.6890710983815539,
          -0.263965311305687
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.4185681457759849,
            -0.3226928814999381,
            1.3588337383725917
          ],
          "distance_m": -0.0022326590889029624,
          "contact_frame": [
            0.05844520941092992,
            0.16238831554896016,
            0.9849945139289275,
            -0.009618485942500098,
            0.9867269302969143,
            -0.16210320710893597,
            -0.998244279835896,
            1.734723475976807e-18,
            0.059231391802941145
          ],
          "force_torque_contact_frame": [
            12.248771048069594,
            -2.8010810655732707,
            -9.447689982496323,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.3964871827583407,
            -0.3152043180151795,
            1.3712176862827563
          ],
          "distance_m": -0.0013200959127990593,
          "contact_frame": [
            -0.39000438534368453,
            -0.2797652669010696,
            0.877284432124763,
            -0.11364781638873875,
            0.9600684326837194,
            0.25564189483396155,
            -0.9137728127071665,
            0.0,
            -0.40622561066140783
          ],
          "force_torque_contact_frame": [
            3.307983414381303,
            3.307983414381303,
            0.0,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 26,
      "physics_step": 173,
      "sim_time_s": 0.8650000000000007,
      "qpos": [
        -0.35279046265859254,
        -0.3508371272146867,
        1.45947870966864,
        0.47731862795926266,
        0.8142391475893708,
        -0.3300004419220568,
        -0.01677039854239826,
        -0.43708124337303944,
        -0.3644164845166687,
        -0.09810924519286778,
        -0.141328607811036,
        -0.2622576777748206,
        1.0537235859225793,
        0.2509420888656698,
        -2.9678456040386396,
        0.4473954128534518,
        -0.5309061965792976,
        0.38748424844218465,
        1.5709319988520483,
        0.5846178634023372,
        0.4603297957537451
      ],
      "qvel": [
        -0.17656828447049322,
        -0.880166413602511,
        -0.34297232154257956,
        6.865165828105626,
        0.23518373023970518,
        -5.8945026291530915,
        0.0027698080414968324,
        0.6801809303379756,
        -0.3545707531564064,
        0.29895369926378723,
        4.485969435577178,
        -0.15897218567491295,
        -7.149317031322459,
        0.4603216708708632,
        -0.1473360860528901,
        0.07751277609187929,
        -0.07819813728022518,
        -0.14670434904612759,
        -4.630811544577848,
        -6.4425031995083595
      ],
      "target_rad": [
        -0.1761992871761322,
        0.18259349465370178,
        0.43000441789627075,
        -0.03266944736242294,
        0.16057854890823364,
        0.9869499206542969,
        0.5908644795417786,
        -2.4931933879852295,
        1.1488853693008423,
        -1.3007394075393677,
        0.5876079201698303,
        1.604140281677246,
        0.0422152578830719,
        -0.2775709331035614
      ],
      "policy_call": 43,
      "body_poses": [
        [
          -0.35279046265859254,
          -0.3508371272146867,
          1.45947870966864,
          0.47731862795926266,
          0.8142391475893708,
          -0.3300004419220568,
          -0.01677039854239826
        ],
        [
          -0.355513242303969,
          -0.35604073595299746,
          1.4777203907068912,
          0.1588472644216521,
          -0.2704597306472334,
          -0.393657024530758,
          -0.8640909834742957
        ],
        [
          -0.3431909940364935,
          -0.35701625999687103,
          1.4943249247405377,
          -0.23876938742867276,
          -0.3588168533780503,
          0.27213373293852733,
          -0.8603388150930741
        ],
        [
          -0.3679208701894907,
          -0.3397947772273142,
          1.5020128215059267,
          -0.8813533833234526,
          0.22068316413040226,
          0.27859947933599466,
          -0.31128360844639924
        ],
        [
          -0.3663172655672701,
          -0.30052142041975427,
          1.486682042605568,
          -0.35505656037292604,
          -0.3425510350874299,
          -0.8696781356016938,
          -0.015923810883078864
        ],
        [
          -0.35810828259598865,
          -0.2627950089790124,
          1.5174932496312767,
          -0.45332355908833954,
          0.3499262815097914,
          0.06221194680785658,
          -0.817422180980299
        ],
        [
          -0.3511272488160043,
          -0.39480294634998403,
          1.4607609458895252,
          0.07165908077375564,
          0.6711646844613597,
          0.6661259025290662,
          0.31729989671347636
        ],
        [
          -0.3935615250414407,
          -0.3896888205377342,
          1.43481527344883,
          -0.5825281578602259,
          0.11080332837116852,
          0.30583798118218314,
          -0.7448803239368397
        ],
        [
          -0.40095683402714544,
          -0.38746360217799203,
          1.41245370382889,
          0.30536596855076237,
          -0.5528738330771772,
          -0.6976311904972159,
          0.3382201531473895
        ],
        [
          -0.40893884406243614,
          -0.406915790129905,
          1.4030430768742195,
          -0.4102413132604348,
          -0.3053335995371564,
          -0.657883838284952,
          0.5528673558924402
        ],
        [
          -0.33726463046011895,
          -0.344612071451594,
          1.4501273880887118,
          0.11815072152754744,
          -0.2517015210726956,
          -0.40590721002942926,
          -0.8705895061039605
        ],
        [
          -0.32621943669485076,
          -0.34563637115290236,
          1.467604644876022,
          0.9039137697641679,
          0.3727845043143266,
          0.19336978089630624,
          0.08111558426078616
        ],
        [
          -0.3110040621012766,
          -0.326478683056673,
          1.448402422015509,
          0.5024086993348996,
          0.20629370450325535,
          0.7758826471960508,
          0.32098991276204947
        ],
        [
          -0.3057175067983079,
          -0.31642095324720343,
          1.4890336327840594,
          0.02603848419879476,
          0.5735947947219788,
          0.16259777590798924,
          -0.8024169564997098
        ],
        [
          -0.26769790578743585,
          -0.31493900956914933,
          1.5205346451790474,
          0.5731399920753082,
          -0.44511422682626023,
          0.668149908190137,
          -0.16419371104366098
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.40814308115914033,
            -0.3222601057122276,
            1.3644548879467522
          ],
          "distance_m": -0.00030175293970508243,
          "contact_frame": [
            -0.39182288962054695,
            -0.26748415905116246,
            0.8802994080573364,
            -0.10876973986760187,
            0.9635622578000305,
            0.24437045449980604,
            -0.9135885106865883,
            0.0,
            -0.40663993057920556
          ],
          "force_torque_contact_frame": [
            3.1556756771637047,
            0.6083523868434954,
            -2.547323290320209,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 27,
      "physics_step": 180,
      "sim_time_s": 0.9000000000000007,
      "qpos": [
        -0.35660921852157434,
        -0.3760091918116346,
        1.4530192569422404,
        0.3796686477681522,
        0.890719042959292,
        -0.24771794514105996,
        -0.033273473919572805,
        -0.43724209435602507,
        -0.33298742590867025,
        -0.11235161641526105,
        -0.12493759411331268,
        -0.11142110752911338,
        1.0512658752382118,
        0.12059227864067817,
        -2.9230505162298774,
        0.4447080940430637,
        -0.528299621797339,
        0.3804577699544288,
        1.5720263371201102,
        0.409458335680357,
        0.2278981144299825
      ],
      "qvel": [
        -0.03090212702402778,
        -0.5217027666633292,
        0.1353564964386682,
        4.691515314577728,
        -0.906039048192975,
        -5.426230104205347,
        -0.005081138937338029,
        1.0861390872196337,
        -0.458833491938932,
        0.5733389870137612,
        4.100156081204086,
        -0.013034373952446322,
        -1.5819614995407307,
        1.902916887034194,
        -0.04496213269478944,
        0.06939391023129064,
        -0.2895790340586563,
        0.06497611570193637,
        -5.2192580196948795,
        -6.52897523970924
      ],
      "target_rad": [
        -0.2394137680530548,
        0.2649265229701996,
        0.34794652462005615,
        0.05889229476451874,
        0.3450029790401459,
        0.8066070079803467,
        0.6475026607513428,
        -2.1020498275756836,
        0.9087147116661072,
        -0.7499485611915588,
        0.2966349720954895,
        1.5532727241516113,
        -0.08942387253046036,
        -0.4325210154056549
      ],
      "policy_call": 45,
      "body_poses": [
        [
          -0.35660921852157434,
          -0.3760091918116346,
          1.4530192569422404,
          0.3796686477681522,
          0.890719042959292,
          -0.24771794514105996,
          -0.033273473919572805
        ],
        [
          -0.35740249049942185,
          -0.3858162588766168,
          1.4694643825164677,
          0.269257498585036,
          -0.23192082725355065,
          -0.30243699517552813,
          -0.8844461505885791
        ],
        [
          -0.3441368776704158,
          -0.3886569321191135,
          1.485099410236311,
          -0.11304976653873479,
          -0.41768923941883074,
          0.3471208505855122,
          -0.8320231755474403
        ],
        [
          -0.37118120240977037,
          -0.3787701692889825,
          1.4968512790295319,
          -0.8757578044227085,
          0.07178648790575959,
          0.32875164130614826,
          -0.3461463945867225
        ],
        [
          -0.3767088328836966,
          -0.33715123891386845,
          1.4926906516507426,
          -0.2940141008770911,
          -0.31982236844021733,
          -0.8857102862324449,
          -0.16366627628429076
        ],
        [
          -0.37321953571273386,
          -0.3086416588435418,
          1.5328780706953433,
          -0.3686440761575688,
          0.2844447350063079,
          0.17978357609782208,
          -0.8665279012279997
        ],
        [
          -0.3479104425322578,
          -0.4180739075373466,
          1.4434122465096069,
          -0.05015443683075674,
          0.6226003813104563,
          0.6773398676889119,
          0.38866952710166425
        ],
        [
          -0.3920309986467529,
          -0.4142043839268109,
          1.4202087270529555,
          -0.5806527171350291,
          -0.02664221887289963,
          0.39098549973722835,
          -0.7136266203361993
        ],
        [
          -0.4018797197175484,
          -0.40603708897790747,
          1.4003094814869226,
          0.40198152039708446,
          -0.4745877189996989,
          -0.7336990397796261,
          0.27361117166586113
        ],
        [
          -0.4101467631999431,
          -0.4227295435976811,
          1.3867566976095418,
          -0.3454559749474884,
          -0.3157063277294506,
          -0.7519378087995997,
          0.46430508903340806
        ],
        [
          -0.34284149676750125,
          -0.36520213124762724,
          1.4452149453346546,
          0.22872464948224897,
          -0.21791567220542846,
          -0.31267901428146716,
          -0.8957843649866013
        ],
        [
          -0.3307394498731994,
          -0.3685009964664187,
          1.4616818196353945,
          0.8376528960792285,
          0.4645967946299809,
          0.23216272721662728,
          0.1690796031488313
        ],
        [
          -0.31996577011025273,
          -0.34307946841562537,
          1.4473666620767716,
          0.4278705537995664,
          0.20942740584888442,
          0.756345225960877,
          0.4483401053183272
        ],
        [
          -0.313683132644065,
          -0.34222984984233545,
          1.4890776618149506,
          -0.051287250395604944,
          0.5100833760381965,
          0.3519900713586565,
          -0.7831267822653379
        ],
        [
          -0.2720489760731136,
          -0.3477117928564464,
          1.5150881463820545,
          0.6183354477692475,
          -0.44704589055671917,
          0.6450332633986819,
          -0.04175326187976744
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.40387925303037214,
            -0.4221663462377472,
            1.35127151459899
          ],
          "distance_m": -0.0008319726325380325,
          "contact_frame": [
            -0.23296306395585703,
            -0.11464081221386663,
            0.9657047659648595,
            -0.026884322985555435,
            0.9934070083178118,
            0.11144392761682156,
            -0.9721139048536995,
            0.0,
            -0.234509181035823
          ],
          "force_torque_contact_frame": [
            9.276421469699216,
            5.9192141325126455,
            -3.3572073371865696,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 28,
      "physics_step": 187,
      "sim_time_s": 0.9350000000000007,
      "qpos": [
        -0.3575101202431569,
        -0.39088433076249446,
        1.457428590016876,
        0.29518974581737023,
        0.9362056869374857,
        -0.17339389999251179,
        -0.07947629304121899,
        -0.4372780219935576,
        -0.2875475420816162,
        -0.13474062171988366,
        -0.09374127250324443,
        0.03530158239147763,
        1.0434312915881105,
        0.15115124339128788,
        -2.780950770305161,
        0.44152322004633904,
        -0.5258426627776382,
        0.3598516653066696,
        1.5699163744679168,
        0.2323337805525518,
        0.0058845161823806065
      ],
      "qvel": [
        -0.03180285449704111,
        -0.3952188873093595,
        0.038846394934851335,
        4.707946077654041,
        -2.316554813900115,
        -5.703049582315049,
        0.00034279856588164445,
        1.3537909604768184,
        -0.7045482855571262,
        1.0633370452478055,
        4.143012393386164,
        -0.6020056009604,
        2.2835656796985653,
        5.490466062355988,
        -0.09542832507080547,
        0.06211863649842531,
        -0.7963352981824336,
        -0.19010009228097824,
        -4.781436994640649,
        -6.028198429742817
      ],
      "target_rad": [
        -0.29686489701271057,
        0.24370908737182617,
        0.31145143508911133,
        0.07563187181949615,
        0.38648027181625366,
        0.7830995321273804,
        0.673856258392334,
        -1.9609105587005615,
        0.803447961807251,
        -0.5762013792991638,
        0.23923556506633759,
        1.4965541362762451,
        -0.12895074486732483,
        -0.4595623016357422
      ],
      "policy_call": 46,
      "body_poses": [
        [
          -0.3575101202431569,
          -0.39088433076249446,
          1.457428590016876,
          0.29518974581737023,
          0.9362056869374857,
          -0.17339389999251179,
          -0.07947629304121899
        ],
        [
          -0.35555131266172646,
          -0.40388598485224303,
          1.4713702564807336,
          0.3563665636271114,
          -0.22553740530250987,
          -0.2063645948332919,
          -0.8829209506729958
        ],
        [
          -0.34049240365849837,
          -0.4082252898622514,
          1.4848942977281794,
          -0.01880366130275006,
          -0.47576716313641076,
          0.41450690262371354,
          -0.7755488743335514
        ],
        [
          -0.36752090339383225,
          -0.4051311591283716,
          1.4999653480253126,
          -0.8679362974093748,
          -0.07126176582084086,
          0.3437249271033407,
          -0.3513709135076549
        ],
        [
          -0.3775397252258305,
          -0.3647497962962029,
          1.5069631783551662,
          -0.20619764367547294,
          -0.32446959062480774,
          -0.878347550790499,
          -0.28409082442554157
        ],
        [
          -0.3727317809453993,
          -0.34786932965415857,
          1.5531360439554633,
          -0.30891632340987235,
          0.21117969147922694,
          0.28040720869271485,
          -0.8839375771799872
        ],
        [
          -0.3455729108174558,
          -0.42867301350655246,
          1.4382733779364556,
          -0.16831877247455015,
          0.5889620617139415,
          0.6657797781765986,
          0.42606310291486527
        ],
        [
          -0.3919562557456226,
          -0.4258324057261745,
          1.4198202952478434,
          -0.5370120467795889,
          -0.13566897019985974,
          0.4375556048751884,
          -0.7083481381219365
        ],
        [
          -0.40436971299826047,
          -0.41548509993093635,
          1.4025425254430692,
          0.43360418356490305,
          -0.42451031722694305,
          -0.7462417954219206,
          0.2736815399846363
        ],
        [
          -0.41240491803882384,
          -0.4316591849161146,
          1.3882423696799897,
          -0.32380910808420804,
          -0.28674771009936584,
          -0.7906760890786205,
          0.4333067440437736
        ],
        [
          -0.34583028886589245,
          -0.37709015499356663,
          1.4510605248590285,
          0.31693220515711373,
          -0.21618099377845762,
          -0.21614635116109596,
          -0.897831003108576
        ],
        [
          -0.331758348738134,
          -0.3821692607978162,
          1.4653672779941749,
          0.7622358577990148,
          0.5417034194056553,
          0.28462120299488974,
          0.21105609040101742
        ],
        [
          -0.32529334069137605,
          -0.353361635755488,
          1.4555910614266074,
          0.33795871961834256,
          0.23347725806625036,
          0.7403425227027303,
          0.5321327117157462
        ],
        [
          -0.3142127890114852,
          -0.3597856206307507,
          1.4957900001837645,
          -0.14609368368356906,
          0.3973582130207323,
          0.4893748763361205,
          -0.7624141371615183
        ],
        [
          -0.26779749270579567,
          -0.36909341643879945,
          1.5098962117960548,
          0.6268208270598221,
          -0.4339123463878905,
          0.6436915073295066,
          0.06691016221818182
        ]
      ],
      "terrain_contacts": []
    },
    {
      "frame": 29,
      "physics_step": 193,
      "sim_time_s": 0.9650000000000007,
      "qpos": [
        -0.3583418731660885,
        -0.4016751654616929,
        1.4570385245300546,
        0.20968731118979084,
        0.9629135383401436,
        -0.10862001700624085,
        -0.13050073223099135,
        -0.4372906493146459,
        -0.2475091621489603,
        -0.15500662342895516,
        -0.059838905782009254,
        0.15032886180740568,
        1.0237563637499685,
        0.25500108623306617,
        -2.583173156519411,
        0.4398063820093362,
        -0.5169846055015286,
        0.3249630593489472,
        1.5562159979353596,
        0.10289230851903813,
        -0.15502066413371415
      ],
      "qvel": [
        -0.007548620037919028,
        -0.3045285741905493,
        0.03796148854889781,
        5.182083618856948,
        -3.138744443760715,
        -5.919002361355723,
        -0.0013197150237688545,
        1.3241099924297761,
        -0.6360427011842215,
        1.1405612520241264,
        3.557112386991766,
        -0.21400471473014865,
        4.37100074550132,
        7.144778215266358,
        -0.02477957948636612,
        0.5961712575601954,
        -1.5215463262784499,
        -0.616626866293525,
        -3.9933467730844003,
        -4.81087240032027
      ],
      "target_rad": [
        -0.349857896566391,
        0.20091402530670166,
        0.2004389762878418,
        0.07624674588441849,
        0.4055057466030121,
        0.7140812277793884,
        0.7054961323738098,
        -1.6478829383850098,
        0.5740041732788086,
        -0.30455631017684937,
        0.13716423511505127,
        1.3067100048065186,
        -0.11249884963035583,
        -0.45513927936553955
      ],
      "policy_call": 48,
      "body_poses": [
        [
          -0.3583418731660885,
          -0.4016751654616929,
          1.4570385245300546,
          0.20968731118979084,
          0.9629135383401436,
          -0.10862001700624085,
          -0.13050073223099135
        ],
        [
          -0.3539064033493242,
          -0.4169294325824305,
          1.46775691723203,
          0.4253467212936999,
          -0.22267694399267235,
          -0.10683720419831905,
          -0.8706784464415499
        ],
        [
          -0.33718917096811535,
          -0.42238901589718203,
          1.478676033109332,
          0.05689119685805258,
          -0.521389031837059,
          0.4794241697510122,
          -0.7036116362444734
        ],
        [
          -0.3630178393994515,
          -0.42550516528403026,
          1.4957177319701542,
          -0.8523598018174664,
          -0.20433157798266902,
          0.34448255579656095,
          -0.33624863306290337
        ],
        [
          -0.37495906796527084,
          -0.3889722183556203,
          1.5131174944247063,
          -0.11066646921791301,
          -0.3396396312862816,
          -0.8510142747631794,
          -0.38493188696165315
        ],
        [
          -0.36595385894251314,
          -0.3841883220561704,
          1.5614498908752503,
          -0.2747748640103664,
          0.1392599506421558,
          0.37553467370691956,
          -0.8741162102941841
        ],
        [
          -0.34570567174495126,
          -0.43359298375571137,
          1.4294888793191909,
          -0.2743702317485776,
          0.5535442921997958,
          0.640058168520703,
          0.4567660598306124
        ],
        [
          -0.39366802730006123,
          -0.43208833207169584,
          1.4154408021228269,
          -0.46766423274049407,
          -0.2140628575338594,
          0.4879460528658771,
          -0.7052488269627213
        ],
        [
          -0.40766416867816463,
          -0.4208206168260887,
          1.400051565388081,
          0.4210385385069449,
          -0.4049035759678885,
          -0.7616212533447028,
          0.28055785448637177
        ],
        [
          -0.4145737100100373,
          -0.4373423988599621,
          1.3855619498994518,
          -0.34075774607196324,
          -0.26822749816507824,
          -0.7969485743037462,
          0.42048916470616043
        ],
        [
          -0.34850048974110803,
          -0.3858331279422213,
          1.4526309152558363,
          0.390324362456135,
          -0.21824417294139856,
          -0.11562305377369157,
          -0.8869316109409918
        ],
        [
          -0.33253253329293364,
          -0.3921709146168134,
          1.4641789378976815,
          0.6798923045154928,
          0.6078263075175647,
          0.33642749026686786,
          0.2347555706323321
        ],
        [
          -0.32968994271352414,
          -0.361597721907402,
          1.4592342876217728,
          0.24720325320216677,
          0.25855483228785736,
          0.720550656577227,
          0.5940090080234394
        ],
        [
          -0.3131502430572861,
          -0.3734227943287917,
          1.4962019340429384,
          -0.22115953798154375,
          0.2774221885967104,
          0.5805110500937397,
          -0.7328931086816582
        ],
        [
          -0.2644749794382391,
          -0.3816328666805878,
          1.498022215228512,
          0.6214240807817127,
          -0.4130013033474423,
          0.6445725509410004,
          0.16669811586016323
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.40395087803480956,
            -0.4331233551202942,
            1.3500619100909514
          ],
          "distance_m": -0.0006232848279331473,
          "contact_frame": [
            -0.23722181733502495,
            -0.11457066260998888,
            0.9646757862874844,
            -0.027358815831475727,
            0.9934151011883744,
            0.1112561545587088,
            -0.9710701851959865,
            0.0,
            -0.2387942533300007
          ],
          "force_torque_contact_frame": [
            6.347546424194277,
            3.475519911442473,
            -2.8720265127518045,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 30,
      "physics_step": 200,
      "sim_time_s": 1.0000000000000007,
      "qpos": [
        -0.3578632341058379,
        -0.4112313037537062,
        1.4577014921760414,
        0.09666500691995422,
        0.9742693753543982,
        -0.03497540255103237,
        -0.2005786177540101,
        -0.43741187792770114,
        -0.2066039475280008,
        -0.17662323900214774,
        -0.022199409771620833,
        0.25657818785880043,
        0.9997529940053375,
        0.4220028919749677,
        -2.307582168557704,
        0.4386100385433845,
        -0.4723131190545827,
        0.26053601266129944,
        1.517146445003525,
        -0.010791091161435817,
        -0.28979883813856794
      ],
      "qvel": [
        0.02970043438039357,
        -0.26260562390855197,
        -0.009551529229146288,
        5.396925463687994,
        -3.924264689405875,
        -5.641239821051374,
        -0.001573469615158891,
        1.0859902699931183,
        -0.6008934520469554,
        1.016601899846678,
        2.629019131411462,
        -1.1369489492308889,
        4.838073024244431,
        8.32023925969904,
        -0.03425826228909584,
        1.7968941211624891,
        -2.0146403250389913,
        -1.5166724245417,
        -2.6709136398744056,
        -3.1369724642690118
      ],
      "target_rad": [
        -0.3847128450870514,
        0.2139095962047577,
        0.09219324588775635,
        0.057565003633499146,
        0.4359379708766937,
        0.6327403783798218,
        0.6728421449661255,
        -1.3484678268432617,
        0.39563125371932983,
        -0.1268092542886734,
        0.06107964366674423,
        1.1168584823608398,
        -0.10613209754228592,
        -0.4422600269317627
      ],
      "policy_call": 50,
      "body_poses": [
        [
          -0.3578632341058379,
          -0.4112313037537062,
          1.4577014921760414,
          0.09666500691995422,
          0.9742693753543982,
          -0.03497540255103237,
          -0.2005786177540101
        ],
        [
          -0.350886738366764,
          -0.4281313930562984,
          1.46344305021956,
          0.49352284869718105,
          -0.22111849482614343,
          0.0261250207419029,
          -0.8407492446329494
        ],
        [
          -0.33241475199221954,
          -0.43439217058247875,
          1.4703776290925932,
          0.13219325277275118,
          -0.5658426124318797,
          0.5575964121811324,
          -0.5928181196626442
        ],
        [
          -0.35567073885463846,
          -0.44462323968619405,
          1.4883145825699817,
          -0.8212809599652419,
          -0.3617238302633319,
          0.32775692296791875,
          -0.29534531461459845
        ],
        [
          -0.36677629346152124,
          -0.4158429749535217,
          1.517095894270473,
          0.018605350604245757,
          -0.3631058937545837,
          -0.793653186213544,
          -0.48777307312178175
        ],
        [
          -0.3502488932807911,
          -0.4253852007094346,
          1.562656743372407,
          -0.2585839823875219,
          0.04395200376807605,
          0.4861449899963436,
          -0.8335859848382979
        ],
        [
          -0.3473354979104063,
          -0.43385687170124243,
          1.4214433329853045,
          -0.4002161616346695,
          0.5091517167811256,
          0.5847714109876107,
          0.48850174017786624
        ],
        [
          -0.39665986383387686,
          -0.4340699296154453,
          1.4132542223759175,
          -0.37538549836306645,
          -0.2890285993871087,
          0.5614885528011392,
          -0.6784385023186116
        ],
        [
          -0.41182258760743157,
          -0.4215145104607816,
          1.40013419016454,
          0.3960577447297363,
          -0.41094007667056776,
          -0.7768954636212831,
          0.26589463106699673
        ],
        [
          -0.4176757508599533,
          -0.4379846866218498,
          1.3851297315884132,
          -0.36696192173184333,
          -0.2805438994368338,
          -0.7872253969635505,
          0.40854650024596706
        ],
        [
          -0.3498586812581556,
          -0.3938711112205493,
          1.4563595350528873,
          0.47877685436326956,
          -0.22154070240467516,
          0.022262583879398126,
          -0.849233076524383
        ],
        [
          -0.331633903310722,
          -0.40061119460606875,
          1.463495972870383,
          0.5561739343812754,
          0.675345486821796,
          0.41095395926971456,
          0.25631205883615715
        ],
        [
          -0.33322431440153144,
          -0.3696064424720918,
          1.4653469017379739,
          0.1203187380802393,
          0.2778524026569366,
          0.6915639743084986,
          0.6557901440576706
        ],
        [
          -0.309278106415963,
          -0.38541332536226125,
          1.496277832225406,
          -0.2815797051002472,
          0.11677865828455113,
          0.6564297805140026,
          -0.690054749928769
        ],
        [
          -0.2612818642492927,
          -0.38632948776188786,
          1.4846364669989454,
          0.5961103505484567,
          -0.38501364878676236,
          0.6381435406485767,
          0.29864654986354283
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.40721832148815673,
            -0.43355269014524334,
            1.3494748415274351
          ],
          "distance_m": -0.0001081393155578011,
          "contact_frame": [
            -0.23721704982161834,
            -0.11456604384028572,
            0.9646775071870981,
            -0.027357148411194215,
            0.9934156338606644,
            0.11125180821911242,
            -0.9710713968111386,
            0.0,
            -0.2387893261753219
          ],
          "force_torque_contact_frame": [
            5.0144737538860475,
            1.8993766218092014,
            -2.541249486925777,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 31,
      "physics_step": 207,
      "sim_time_s": 1.035,
      "qpos": [
        -0.35551372753778915,
        -0.42016637583865996,
        1.4559968723450583,
        -0.013816826427954345,
        0.9603993449007346,
        0.031439830486365325,
        -0.27650267752896845,
        -0.43742616444563626,
        -0.1653394205881451,
        -0.1995720559736862,
        0.007336719721499225,
        0.33318675278379867,
        0.9375770503006189,
        0.5786977612775993,
        -2.001930885508758,
        0.43765474234124924,
        -0.3894433726485866,
        0.18547964111862106,
        1.4416106900166241,
        -0.08400255499088859,
        -0.3713601933403217
      ],
      "qvel": [
        0.10159784818361196,
        -0.250290769816077,
        -0.07832370420525522,
        5.008428364560711,
        -4.448936558242324,
        -5.144041938968467,
        0.0007009642121712416,
        1.2691474723973264,
        -0.7150965765755757,
        0.7187762359903525,
        1.8609935141097733,
        -2.2049854787019445,
        4.114486577844036,
        8.917586729650136,
        -0.021312046324779507,
        2.7234980823280432,
        -2.199762935884197,
        -2.657832381208913,
        -1.7478608817538464,
        -1.807217600797651
      ],
      "target_rad": [
        -0.37798163294792175,
        0.21890303492546082,
        -0.004745066165924072,
        0.039808668196201324,
        0.44102373719215393,
        0.5815379619598389,
        0.6405792236328125,
        -1.1804959774017334,
        0.3154624104499817,
        -0.04718516394495964,
        0.029406335204839706,
        0.9779645204544067,
        -0.13275106251239777,
        -0.453059583902359
      ],
      "policy_call": 51,
      "body_poses": [
        [
          -0.35551372753778915,
          -0.42016637583865996,
          1.4559968723450583,
          -0.013816826427954345,
          0.9603993449007346,
          0.031439830486365325,
          -0.27650267752896845
        ],
        [
          -0.34686005586229934,
          -0.43726268052361833,
          1.4562803024985302,
          0.5421044280569439,
          -0.22586381099334804,
          0.16009426678301153,
          -0.7933965929519897
        ],
        [
          -0.3272102090702121,
          -0.44333334865630597,
          1.4586320060236944,
          0.18587382786018142,
          -0.5968550712809813,
          0.6270757863131645,
          -0.46474821379162384
        ],
        [
          -0.34724689555648947,
          -0.4596880165391658,
          1.4759035442612685,
          -0.7785671211598734,
          -0.5040905978136775,
          0.29165444911059046,
          -0.23380245798253393
        ],
        [
          -0.3540661093030383,
          -0.44077904136859036,
          1.512997342479939,
          0.15227812666689539,
          -0.38783019761757215,
          -0.7144355039650272,
          -0.5621218912557789
        ],
        [
          -0.3292802897664643,
          -0.4619102875414992,
          1.5501340303381785,
          -0.26399038758025206,
          -0.05695667459362255,
          0.5795908778693717,
          -0.7688559206867538
        ],
        [
          -0.3500232841839069,
          -0.4325666324211288,
          1.4141221504866774,
          -0.505494434808335,
          0.45700033341527724,
          0.5188331397451152,
          0.5161765635306911
        ],
        [
          -0.3998264139932737,
          -0.435037877473126,
          1.4104423122994278,
          -0.2899650230269561,
          -0.33720121410209714,
          0.6389508663180786,
          -0.6276602720106041
        ],
        [
          -0.415450586348601,
          -0.42085853503473025,
          1.3997412154474347,
          0.3777083374346718,
          -0.45505935357400423,
          -0.7721324377770913,
          0.2325271921508364
        ],
        [
          -0.4215975530117756,
          -0.43680386422292,
          1.384293844217284,
          -0.37779509155935825,
          -0.3301047925083487,
          -0.7595116928439269,
          0.4140575843889697
        ],
        [
          -0.34870626407934224,
          -0.4023452362579669,
          1.457817703283769,
          0.5609812871866506,
          -0.22195829548029464,
          0.16546646319031277,
          -0.7801636751689867
        ],
        [
          -0.32882587059000856,
          -0.40767103598598187,
          1.4600326100462162,
          0.4105884954626406,
          0.7170573029287142,
          0.48932013923060363,
          0.27894750949536457
        ],
        [
          -0.33452259721312133,
          -0.37855780384440346,
          1.4693716153493566,
          -0.010095665316697089,
          0.26807050239410846,
          0.655000821904069,
          0.7064065448401353
        ],
        [
          -0.30407679003009397,
          -0.3947642281427878,
          1.4936698770329557,
          -0.2953368678918829,
          -0.03974801628709612,
          0.7053596417802805,
          -0.6431671675487238
        ],
        [
          -0.2600330941471663,
          -0.3841640645728551,
          1.4739775083267066,
          0.5598365294144191,
          -0.36424012423132024,
          0.6068088684658358,
          0.4309236468150513
        ]
      ],
      "terrain_contacts": []
    },
    {
      "frame": 32,
      "physics_step": 213,
      "sim_time_s": 1.0649999999999993,
      "qpos": [
        -0.35099110870958355,
        -0.42754425134603785,
        1.4521406366290213,
        -0.1005699328920108,
        0.9309365967918574,
        0.08296679462036001,
        -0.3411147202073153,
        -0.43744517564460506,
        -0.12686766420883774,
        -0.22322270145661055,
        0.0247063209627664,
        0.3785044334371533,
        0.8589024001882336,
        0.6818254576218047,
        -1.7337296173647783,
        0.43645702776829165,
        -0.30072954614992037,
        0.12020000423621627,
        1.3424093627318232,
        -0.13158154339943043,
        -0.41305299373145
      ],
      "qvel": [
        0.19764979864631574,
        -0.23848651290275322,
        -0.14176672636115134,
        4.6206204880276545,
        -4.599772652749556,
        -4.741888515128157,
        8.88897999769975e-05,
        1.3245951101306457,
        -0.8786963780560836,
        0.46533352692662494,
        1.2578652927103342,
        -2.7957417227373806,
        3.001501203569251,
        8.928939931629273,
        0.010088636002052983,
        3.035465668655383,
        -2.1538360987863143,
        -3.730846243433152,
        -1.5543371299464712,
        -1.1436446473387207
      ],
      "target_rad": [
        -0.3866216838359833,
        0.23250329494476318,
        -0.14233464002609253,
        -0.015312821604311466,
        0.4310908913612366,
        0.48676761984825134,
        0.5268962383270264,
        -0.9058207273483276,
        0.18432781100273132,
        0.015152305364608765,
        -0.004168093204498291,
        0.7429478168487549,
        -0.22685176134109497,
        -0.4856746196746826
      ],
      "policy_call": 53,
      "body_poses": [
        [
          -0.35099110870958355,
          -0.42754425134603785,
          1.4521406366290213,
          -0.1005699328920108,
          0.9309365967918574,
          0.08296679462036001,
          -0.3411147202073153
        ],
        [
          -0.34170843725679667,
          -0.4437640461735586,
          1.4478979645402608,
          0.5697531913928903,
          -0.23380619491610666,
          0.2679705710761353,
          -0.7408830792733754
        ],
        [
          -0.3216985121773384,
          -0.44881503351672153,
          1.4462884847567048,
          0.21587459810439924,
          -0.6122807710416873,
          0.6759134153033279,
          -0.3487857083064793
        ],
        [
          -0.3389243237564425,
          -0.46943996786536396,
          1.4619452244733697,
          -0.7340337029933531,
          -0.6090369660935161,
          0.24785424830607836,
          -0.16981392286294011
        ],
        [
          -0.33998850215274434,
          -0.45951177601902565,
          1.5029366798685266,
          0.26286001997948694,
          -0.4068281033754366,
          -0.634139684795219,
          -0.6027125055680771
        ],
        [
          -0.30909219496299795,
          -0.487364003112016,
          1.5295763429294087,
          -0.28026704207773245,
          -0.14478170490067355,
          0.6414015999339415,
          -0.6993515787164802
        ],
        [
          -0.3512870768625287,
          -0.431515352584738,
          1.4083051895564245,
          -0.5763364808867417,
          0.41043871064566745,
          0.457836912889324,
          0.5382951669842323
        ],
        [
          -0.4011023903055607,
          -0.43569319038523197,
          1.4073151300202156,
          -0.23374132122780814,
          -0.36319064580006694,
          0.7000128433127684,
          -0.5687174770931371
        ],
        [
          -0.41682223596202295,
          -0.4200167211300221,
          1.3991409785757252,
          0.38185201020331483,
          -0.5108617177541868,
          -0.7431266258908936,
          0.20241582331662006
        ],
        [
          -0.4247132971594547,
          -0.43507980097889,
          1.383600876303056,
          -0.3585957883078263,
          -0.3851531163114426,
          -0.7293935684714201,
          0.43709399432616397
        ],
        [
          -0.34471360312055827,
          -0.40995389220236217,
          1.4564327443602254,
          0.6190282560547375,
          -0.21495652382598984,
          0.28331476595593313,
          -0.7002359991187344
        ],
        [
          -0.32427143767769134,
          -0.4127926812383849,
          1.4548330103775224,
          0.27711401810525477,
          0.7296403796924573,
          0.5468786671630931,
          0.30291328906755866
        ],
        [
          -0.33259799849082367,
          -0.3872925072080111,
          1.470570211826505,
          -0.10631553426941037,
          0.23338596286170116,
          0.6132381021785773,
          0.7471057686489535
        ],
        [
          -0.2984409092546405,
          -0.4020182764614998,
          1.4904811600513994,
          -0.27319735705864845,
          -0.1552027416002896,
          0.738499919685363,
          -0.5965678349698683
        ],
        [
          -0.25905708529375693,
          -0.38096656771967924,
          1.4693686052730763,
          0.5332755790269326,
          -0.3499145345060092,
          0.5550583718546271,
          0.5339355571499462
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.41364781730137745,
            -0.4278206552673365,
            1.348575763935756
          ],
          "distance_m": -0.0001060320092009352,
          "contact_frame": [
            -0.23716210665834156,
            -0.11451281526219255,
            0.9646973361143403,
            -0.027337935707827703,
            0.9934217710221207,
            0.11120171819944023,
            -0.9710853579560408,
            0.0,
            -0.23873254399722693
          ],
          "force_torque_contact_frame": [
            5.554558591302019,
            1.0612701925247667,
            -3.937221064641348,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 33,
      "physics_step": 220,
      "sim_time_s": 1.0999999999999985,
      "qpos": [
        -0.34158438372311023,
        -0.4354672793402547,
        1.4449331274233386,
        -0.19104293444909526,
        0.8807840778883527,
        0.13779476653049375,
        -0.4107731827325762,
        -0.4346792379561963,
        -0.06968730102377907,
        -0.25281876197526526,
        0.030270907636048394,
        0.40825262799664247,
        0.7517884410633354,
        0.74678562132894,
        -1.433541024238259,
        0.4347158488960709,
        -0.1997882148544071,
        0.05146966921091595,
        1.1939020975442807,
        -0.18391733686040276,
        -0.44392979648538056
      ],
      "qvel": [
        0.33293747420341174,
        -0.21387342029844367,
        -0.242903082294417,
        4.212588460515802,
        -4.636321973629246,
        -4.380501910655211,
        0.2550595969368095,
        2.22158969755582,
        -0.5029845888356896,
        -0.0908315274457899,
        0.5509039131701646,
        -3.1440606158615343,
        1.0659356468912773,
        8.21175321264491,
        0.01400706838781333,
        2.6636489891756083,
        -1.78886505886685,
        -4.522596317593671,
        -1.4468361864317978,
        -0.7248765680329159
      ],
      "target_rad": [
        -0.4026878774166107,
        0.24234843254089355,
        -0.1901649832725525,
        -0.06955686211585999,
        0.3964334726333618,
        0.3972542881965637,
        0.3801172971725464,
        -0.7315530180931091,
        0.11996276676654816,
        0.006067804992198944,
        -0.012326866388320923,
        0.6129183769226074,
        -0.2398974895477295,
        -0.49408793449401855
      ],
      "policy_call": 55,
      "body_poses": [
        [
          -0.34158438372311023,
          -0.4354672793402547,
          1.4449331274233386,
          -0.19104293444909526,
          0.8807840778883527,
          0.13779476653049375,
          -0.4107731827325762
        ],
        [
          -0.3324545515564985,
          -0.44974385011649926,
          1.43598462523133,
          0.5900124615160833,
          -0.24347961271001917,
          0.38203362240744043,
          -0.6683212437148479
        ],
        [
          -0.31280845636755955,
          -0.4527313546356019,
          1.4301875776573065,
          0.2378348166530891,
          -0.6148837617770618,
          0.7217306636101447,
          -0.21084925585674122
        ],
        [
          -0.3272242014975672,
          -0.47720812516811,
          1.4428494889129426,
          -0.6711378644837667,
          -0.7113786153916178,
          0.18959262118302198,
          -0.08700040466932091
        ],
        [
          -0.32044468106944685,
          -0.477597133312949,
          1.4844894656160814,
          0.3785583250027562,
          -0.42111382461197594,
          -0.5297718851327713,
          -0.6314257604933868
        ],
        [
          -0.2850244517529573,
          -0.5096683457296498,
          1.4970132305967154,
          -0.30497990065195557,
          -0.24270148963983354,
          0.6950545902086757,
          -0.6041377026430146
        ],
        [
          -0.3492693881974507,
          -0.43072569182542214,
          1.4018534139108447,
          -0.6390401595366741,
          0.3585922605522034,
          0.3828075508719837,
          0.5625812333937179
        ],
        [
          -0.3989477708138405,
          -0.43621708647594853,
          1.4032328650378354,
          -0.19424427327960117,
          -0.38979071025078943,
          0.7569234914240937,
          -0.4872362800845451
        ],
        [
          -0.41476046884110757,
          -0.4191888388954016,
          1.3987967233534366,
          0.41507827670674036,
          -0.5724355324570136,
          -0.6822049063198922,
          0.1860753911184542
        ],
        [
          -0.42606033475583677,
          -0.43272518231470275,
          1.3839730788237037,
          -0.30010640135403327,
          -0.43409211836203543,
          -0.6987247698915974,
          0.4829946962257739
        ],
        [
          -0.3354570001072908,
          -0.41862778615052726,
          1.451725523108052,
          0.6642589939181327,
          -0.19703727267460291,
          0.4079317634508569,
          -0.5945821882159765
        ],
        [
          -0.31537271968592506,
          -0.41786702060873504,
          1.4467714423914744,
          0.12343685471112666,
          0.7243212017957709,
          0.5905857581213311,
          0.33366240698107913
        ],
        [
          -0.3250182424117494,
          -0.3984020077832156,
          1.4690273891708854,
          -0.18433046150546653,
          0.17676409570712484,
          0.5477004174454507,
          0.7967439916059006
        ],
        [
          -0.28877090768854624,
          -0.41183279643606324,
          1.485931398341393,
          -0.2263120741516811,
          -0.2567159218337177,
          0.7764506698277659,
          -0.5291541721410147
        ],
        [
          -0.25453535737611105,
          -0.3807627203983559,
          1.4685366442524213,
          0.5193220108322559,
          -0.3264894677543214,
          0.473947170311817,
          0.6317304458897511
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.41407085002237626,
            -0.4245668239687617,
            1.3489117927234309
          ],
          "distance_m": -2.0190014471031393e-06,
          "contact_frame": [
            -0.2371205419131065,
            -0.11447254804872596,
            0.9647123324318327,
            -0.0273234054419656,
            0.9934264118409739,
            0.11116382402482311,
            -0.9710959170534541,
            -3.469446951953614e-18,
            -0.23868958896883488
          ],
          "force_torque_contact_frame": [
            5.112142078984916,
            0.5904616879482564,
            -4.034743441082351,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 34,
      "physics_step": 227,
      "sim_time_s": 1.1349999999999978,
      "qpos": [
        -0.3279624764914662,
        -0.44279545315391,
        1.4336463061227065,
        -0.2749484095586007,
        0.8160331737821204,
        0.1898276018585815,
        -0.47165529037730136,
        -0.4209915367851903,
        0.02118693108885219,
        -0.2586758812724335,
        0.017549082295268418,
        0.41542986203115206,
        0.6386647788275296,
        0.7408353606672007,
        -1.1664136365422764,
        0.426806990339277,
        -0.11974046313666374,
        -0.0012157767432538777,
        1.0316234147245145,
        -0.22832110081336254,
        -0.45845858558619546
      ],
      "qvel": [
        0.36838088264351704,
        -0.23643249657593013,
        -0.3559956370776533,
        4.083370743794285,
        -3.8171984596030977,
        -5.28419542202899,
        0.5019672183052267,
        2.543065998583684,
        -0.20446175063136746,
        -0.44385603616039127,
        -0.014941987367756225,
        -3.303469738391527,
        -1.0224220243181097,
        7.260480795182925,
        -0.5444858343106119,
        1.8945825798599083,
        -1.235051023173121,
        -4.570463603757087,
        -1.6904705565001117,
        0.3571652656562334
      ],
      "target_rad": [
        -0.3952934145927429,
        0.23376452922821045,
        -0.2220999151468277,
        -0.06924133747816086,
        0.374667227268219,
        0.359078586101532,
        0.320415735244751,
        -0.655221164226532,
        0.11572001874446869,
        0.02509763091802597,
        -0.02124650776386261,
        0.572584867477417,
        -0.192581906914711,
        -0.4668011963367462
      ],
      "policy_call": 56,
      "body_poses": [
        [
          -0.3279624764914662,
          -0.44279545315391,
          1.4336463061227065,
          -0.2749484095586007,
          0.8160331737821204,
          0.1898276018585815,
          -0.47165529037730136
        ],
        [
          -0.31981073746395106,
          -0.45432166342943275,
          1.420686922359899,
          0.6030323251306959,
          -0.2463305339254671,
          0.4872131042117965,
          -0.5816327655727168
        ],
        [
          -0.3012697379132899,
          -0.4543586975902366,
          1.4114820343033652,
          0.2529193601470778,
          -0.5925502719582164,
          0.7621079681068685,
          -0.06408913646677972
        ],
        [
          -0.3140524686478246,
          -0.4814864409283013,
          1.4197244451371243,
          -0.5875541482780816,
          -0.7966763196067559,
          0.14171332397292627,
          0.0020732649607103776
        ],
        [
          -0.3002482472660149,
          -0.4924034197553493,
          1.458068465919272,
          0.46893314608133824,
          -0.42054608364822194,
          -0.4103232471046722,
          -0.6594524462915273
        ],
        [
          -0.264192766460059,
          -0.5261147155880971,
          1.4561840994134372,
          -0.3268876198620194,
          -0.32285804626228837,
          0.7419828208101045,
          -0.4882301297209371
        ],
        [
          -0.343014130838174,
          -0.43051662222913845,
          1.3941484368789345,
          -0.6862730381294968,
          0.3093197528045669,
          0.3007009720141171,
          0.5856018554369495
        ],
        [
          -0.39250368231782257,
          -0.43665579797251086,
          1.3977671128156839,
          -0.17948531956646308,
          -0.4277367182869428,
          0.7943182710877323,
          -0.39228153678887034
        ],
        [
          -0.40856981795282593,
          -0.41929329983612557,
          1.398091044647547,
          0.4737472173351417,
          -0.6036875070753791,
          -0.6085929052419576,
          0.20184063901374852
        ],
        [
          -0.42364641226182886,
          -0.43113792668038425,
          1.385321505933795,
          -0.21382027670057813,
          -0.43979021576754085,
          -0.6877900037589351,
          0.5364796045667651
        ],
        [
          -0.32157646985663885,
          -0.42713584367366564,
          1.442659937476727,
          0.6834822791120067,
          -0.17043188351317468,
          0.5186601140842162,
          -0.48455818358599334
        ],
        [
          -0.3026373973570669,
          -0.4227135302252552,
          1.4355708841816837,
          -0.02389317126217723,
          0.7090152820844359,
          0.6042396087040443,
          0.36279600523014044
        ],
        [
          -0.31145697599068345,
          -0.41046397632164455,
          1.4627630422771345,
          -0.22626481473442658,
          0.12667740348740564,
          0.46074691860519057,
          0.8488046571825034
        ],
        [
          -0.27452318966791744,
          -0.42486341035293673,
          1.4772043930398826,
          -0.17833777508278595,
          -0.32148166933191297,
          0.8175051368187713,
          -0.4433176350394948
        ],
        [
          -0.24370597022906576,
          -0.3876013569653443,
          1.4671128934784756,
          0.5245721129561685,
          -0.2823515474158237,
          0.3855029069026314,
          0.7046199051617916
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.411911903173803,
            -0.41732538920090145,
            1.3502278378764139
          ],
          "distance_m": -0.0001445612959435484,
          "contact_frame": [
            -0.23711926527282567,
            -0.11446321678724326,
            0.9647137534207708,
            -0.02732100150185997,
            0.9934274870380407,
            0.11115480589798542,
            -0.9710962964162775,
            0.0,
            -0.23868804554604175
          ],
          "force_torque_contact_frame": [
            6.623849891210642,
            -0.9800773014091684,
            -4.499550250363209,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.23427681979372494,
            -0.39244680329414183,
            1.4202644497599886
          ],
          "distance_m": -0.0008432115683363122,
          "contact_frame": [
            -0.39164355542275225,
            -0.26728437447818326,
            0.8804398836125223,
            -0.10863250354779809,
            0.9636176955410305,
            0.24421284981165778,
            -0.9136817305105553,
            0.0,
            -0.4064304311087406
          ],
          "force_torque_contact_frame": [
            7.612423340483138,
            -1.5646971217031644,
            6.047726218779974,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 35,
      "physics_step": 233,
      "sim_time_s": 1.1649999999999971,
      "qpos": [
        -0.31888373821404187,
        -0.4517525148313664,
        1.4241079868967617,
        -0.3611741287011647,
        0.7484925046943195,
        0.25995949595489043,
        -0.49166378719228354,
        -0.4007611657946706,
        0.09212837674670514,
        -0.26588056564023066,
        0.0027275920810072504,
        0.41101241618796613,
        0.5393247059852722,
        0.7033594848480548,
        -0.9665550654703097,
        0.4231403090560096,
        -0.07007391362968089,
        -0.03636493868359398,
        0.9108981581044043,
        -0.29613403521426335,
        -0.4207161728251404
      ],
      "qvel": [
        0.2941416986936294,
        -0.3188090610150067,
        -0.34306349416827897,
        4.0765836241670454,
        -3.4638253644616164,
        -7.574187239632689,
        0.7636254093777105,
        2.239825542139023,
        -0.1601080821334381,
        -0.5774767906469972,
        -0.20872192398143938,
        -3.3782332119108878,
        -1.3982540401692671,
        5.816794683640071,
        0.12490885360614665,
        1.5101816754478496,
        -1.1694664528564347,
        -3.8133753692298025,
        -1.7532221022376417,
        1.2480727234992537
      ],
      "target_rad": [
        -0.33278053998947144,
        0.22142747044563293,
        -0.2512298822402954,
        -0.07739418745040894,
        0.36744460463523865,
        0.2896607518196106,
        0.3214956521987915,
        -0.7678810954093933,
        0.17341884970664978,
        0.023743759840726852,
        -0.07863697409629822,
        0.475848913192749,
        -0.1495114415884018,
        -0.3797532916069031
      ],
      "policy_call": 58,
      "body_poses": [
        [
          -0.31888373821404187,
          -0.4517525148313664,
          1.4241079868967617,
          -0.3611741287011647,
          0.7484925046943195,
          0.25995949595489043,
          -0.49166378719228354
        ],
        [
          -0.3113814595039368,
          -0.4592810025429128,
          1.4081615864586376,
          0.6300569193319013,
          -0.2104558439606024,
          0.5726153758170793,
          -0.48046669762085553
        ],
        [
          -0.29382106010378156,
          -0.4554237060137618,
          1.397902266968865,
          0.29338760022827354,
          -0.5594126506902167,
          0.7712193368781125,
          0.07875237587098938
        ],
        [
          -0.3056119314787838,
          -0.4841597734987806,
          1.3994719095124402,
          -0.47520481325972225,
          -0.8721359677169767,
          0.09848918542066078,
          0.06212181279019951
        ],
        [
          -0.287434583359996,
          -0.5048961762723447,
          1.4314028741046807,
          0.5479863987855996,
          -0.3803453038844157,
          -0.291575348722452,
          -0.6855889239015186
        ],
        [
          -0.2518118173925829,
          -0.5357634268972163,
          1.416630217481978,
          -0.31284234112042664,
          -0.3965524098498793,
          0.7829862400276941,
          -0.3630542711108611
        ],
        [
          -0.3384257371593159,
          -0.43191611455816964,
          1.3900194086971003,
          -0.721307007812235,
          0.230880722678031,
          0.2203299647700441,
          0.6147072465825197
        ],
        [
          -0.3878519957799827,
          -0.4387990238476304,
          1.3931291544224003,
          -0.14085154755516963,
          -0.4654082882067132,
          0.8255567356569742,
          -0.2863774485381356
        ],
        [
          -0.4042176364773828,
          -0.4225128206911156,
          1.3982873885115368,
          0.5367999916802896,
          -0.5895683092903988,
          -0.5685741487461942,
          0.20243125991319366
        ],
        [
          -0.421389480244018,
          -0.43256355796250157,
          1.3866783204199178,
          -0.1395700503567293,
          -0.43177933868211954,
          -0.7067037182223322,
          0.5428228609605369
        ],
        [
          -0.31257156410446507,
          -0.43814280089752444,
          1.4360320023550448,
          0.700544741097007,
          -0.11333811893664725,
          0.5994451615245608,
          -0.37021214842576944
        ],
        [
          -0.2947075953449794,
          -0.43015267195916007,
          1.4292839315412171,
          -0.15451615609780595,
          0.6750744509773935,
          0.587873107001763,
          0.4180962248172345
        ],
        [
          -0.302809734408406,
          -0.42649350241866224,
          1.4590868814098257,
          -0.24618788531756386,
          0.07262771416535428,
          0.3487739137947587,
          0.9013731177011374
        ],
        [
          -0.2658545013433318,
          -0.44323840495587324,
          1.4706592568157375,
          -0.12328645017218531,
          -0.3764706110900739,
          0.8551911196784429,
          -0.3342431435535207
        ],
        [
          -0.23809735425082265,
          -0.40237839878632276,
          1.4706331587485941,
          0.5129006876568571,
          -0.21343538088975297,
          0.2852426440647405,
          0.7810344786195582
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.3903381571873934,
            -0.41304392583645205,
            1.3560784808202635
          ],
          "distance_m": -6.756322232998548e-05,
          "contact_frame": [
            -0.23667431778339668,
            -0.11448536910339274,
            0.964820380984473,
            -0.027275082083029336,
            0.9934249343867204,
            0.1111888916938382,
            -0.9712061249802368,
            0.0,
            -0.2382407664545936
          ],
          "force_torque_contact_frame": [
            4.132903220461915,
            -0.694777666493196,
            -1.8611346492857352,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 36,
      "physics_step": 240,
      "sim_time_s": 1.1999999999999964,
      "qpos": [
        -0.314969523826081,
        -0.45849201818203666,
        1.4184692698054064,
        -0.41811472345846634,
        0.7010922143963071,
        0.31608523376364384,
        -0.48346655513770204,
        -0.3975412538684105,
        0.10320732524623247,
        -0.20994940682349325,
        -0.010521171565203095,
        0.38203798851009485,
        0.4556362371402618,
        0.6448559200173514,
        -0.830090240101766,
        0.42593702554035023,
        -0.03338259266835314,
        -0.03999596988025117,
        0.7842431311027445,
        -0.3058398148295274,
        -0.3994420715082096
      ],
      "qvel": [
        -0.040422034415957084,
        -0.08203887744383925,
        0.03418574959024248,
        -0.2227731486993364,
        0.1797844315276637,
        -2.4778512712435163,
        -0.2980334634198324,
        -1.0547794680893825,
        2.0716496938707785,
        -0.1354699176429025,
        -0.8169593227234542,
        -1.7330806582564724,
        -1.631120209432301,
        2.5816871292824053,
        0.2836267693233557,
        0.8607188680555252,
        0.6653209292305421,
        -3.498446932499759,
        0.7675708018058025,
        -0.040881587765160016
      ],
      "target_rad": [
        -0.001008491963148117,
        0.11093103885650635,
        -0.7872804403305054,
        -0.19574399292469025,
        0.9777950048446655,
        0.0020286738872528076,
        0.45992356538772583,
        -0.674927830696106,
        0.19637472927570343,
        -0.062189776450395584,
        -0.1473310887813568,
        0.5476054549217224,
        -0.16204123198986053,
        -0.7064540386199951
      ],
      "policy_call": 60,
      "body_poses": [
        [
          -0.314969523826081,
          -0.45849201818203666,
          1.4184692698054064,
          -0.41811472345846634,
          0.7010922143963071,
          0.31608523376364384,
          -0.48346655513770204
        ],
        [
          -0.3075810615654304,
          -0.462694686092545,
          1.40129375793947,
          0.6513331414548291,
          -0.1711871486527755,
          0.6158366601994387,
          -0.40890745521831495
        ],
        [
          -0.2904931137389031,
          -0.45618753599293527,
          1.39159020000132,
          0.33151518369849436,
          -0.5434598494663283,
          0.7536388106241885,
          0.16363868160171763
        ],
        [
          -0.301184298741294,
          -0.4851828395105684,
          1.3880943543003508,
          -0.396548861656458,
          -0.9109999850703147,
          0.09408926197190196,
          0.06304949089752424
        ],
        [
          -0.28333501754013063,
          -0.5111034968472249,
          1.4161928163267221,
          0.5738964095701139,
          -0.3237400710794888,
          -0.2375260077568709,
          -0.7137343154837538
        ],
        [
          -0.24739544463497704,
          -0.539175172414927,
          1.3972105053447361,
          -0.2727550953042664,
          -0.4279487609729802,
          0.80971205993132,
          -0.2946708264640905
        ],
        [
          -0.3363034400384458,
          -0.43389109454003105,
          1.3888540332327566,
          -0.7294996631089374,
          0.16049034940103896,
          0.16819402875944556,
          0.6432603345168636
        ],
        [
          -0.3859286116148624,
          -0.4399369935186696,
          1.389742544094432,
          -0.09892440114923753,
          -0.48807759932114625,
          0.8412692039292221,
          -0.21038143078338806
        ],
        [
          -0.4026219874920952,
          -0.4252719147484657,
          1.3978634217622177,
          0.5756003014191127,
          -0.5695354854919282,
          -0.5516647218509663,
          0.19994913962504937
        ],
        [
          -0.4207066385652712,
          -0.4343321837844638,
          1.3868399504143702,
          -0.09846122411422611,
          -0.42390901119765867,
          -0.7238517804737964,
          0.5353925078634061
        ],
        [
          -0.3089432903686461,
          -0.4469257718808767,
          1.432510511090186,
          0.7146090368681942,
          -0.05684473129567236,
          0.6366541513517282,
          -0.2842078333136626
        ],
        [
          -0.29165749446103245,
          -0.4367059590647329,
          1.4274849080573835,
          -0.23986671490880038,
          0.6401093774208738,
          0.5584118914796826,
          0.47000011007531245
        ],
        [
          -0.2994692525811625,
          -0.43986239338354816,
          1.457422565906046,
          -0.22056355829062668,
          0.02478476185923227,
          0.2541452571981036,
          0.9413541419558683
        ],
        [
          -0.2640676137020682,
          -0.46063599299515917,
          1.467178713109767,
          -0.06320811405037872,
          -0.3613810996109169,
          0.8967717684379322,
          -0.24740418447330959
        ],
        [
          -0.235074950237313,
          -0.42200238616110536,
          1.4775165024387873,
          0.5475555942830698,
          -0.1712321482711974,
          0.18942979590111936,
          0.7968555546600686
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.22463419611522106,
            -0.5334333080316591,
            1.3812356031800535
          ],
          "distance_m": -0.0046339675760377315,
          "contact_frame": [
            0.4508732935779471,
            0.4985727953593185,
            0.7403637220081556,
            -0.2593225125018081,
            0.8668478342405864,
            -0.4258246901979199,
            -0.8540872950980619,
            0.0,
            0.5201296880125919
          ],
          "force_torque_contact_frame": [
            6.3251459577652955,
            3.6555309337781594,
            -2.6696150239871366,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.221894763994813,
            -0.5293899285476661,
            1.379927258468386
          ],
          "distance_m": -0.008198384236611886,
          "contact_frame": [
            -0.39211242666668533,
            -0.2679746055486746,
            0.8800212813532384,
            -0.10906512333049165,
            0.9634259757661884,
            0.2447757914743049,
            -0.9134290578509465,
            0.0,
            -0.40699798067500537
          ],
          "force_torque_contact_frame": [
            8.14019930066389,
            -0.21533243181523737,
            7.924866868848651,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.3914037905418148,
            -0.4127421964210567,
            1.3556760134136534
          ],
          "distance_m": -0.000407806109385056,
          "contact_frame": [
            -0.2371205419105557,
            -0.11447254808529815,
            0.96471233242812,
            -0.02732340545051698,
            0.9934264118367596,
            0.11116382406038197,
            -0.9710959170538361,
            0.0,
            -0.23868958896727974
          ],
          "force_torque_contact_frame": [
            4.766895013704318,
            -0.8306349434789162,
            -3.3822414335475988,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 37,
      "physics_step": 247,
      "sim_time_s": 1.2349999999999957,
      "qpos": [
        -0.3192624940273132,
        -0.46139108896936326,
        1.4217794813632583,
        -0.42468932053686875,
        0.7030289538009113,
        0.3308319820276484,
        -0.46469287793895364,
        -0.3690530891013476,
        0.07578326987402362,
        -0.21762525184724638,
        -0.025391301102434812,
        0.4273598296496777,
        0.38201129017005303,
        0.6078487107109551,
        -0.7688745946465059,
        0.4425338324172193,
        -0.02465706580682095,
        -0.030114557594884406,
        0.6852609662337836,
        -0.2723358044584721,
        -0.4422599124138481
      ],
      "qvel": [
        -0.15714979077247332,
        -0.10240340737700976,
        0.10996994049160448,
        -0.5239333364304476,
        0.7230295338105778,
        -0.5222638737676227,
        1.560305977496833,
        -0.4928293211013788,
        -1.7382137946898686,
        -0.673395231771283,
        2.636177286346007,
        -2.338223582993355,
        -0.5606286241160731,
        1.2573189568662375,
        0.16178707419447375,
        -0.09052011389331802,
        -0.04773330570930939,
        -2.3309944608919,
        0.934761101573404,
        -1.8053875350644752
      ],
      "target_rad": [
        -0.016263246536254883,
        0.09782864153385162,
        -0.8280770182609558,
        -0.19865362346172333,
        1.009315013885498,
        -0.0060208141803741455,
        0.5141862630844116,
        -0.6896556615829468,
        0.2398781180381775,
        -0.07878027856349945,
        -0.17029932141304016,
        0.5515123605728149,
        -0.19650794565677643,
        -0.7030351161956787
      ],
      "policy_call": 61,
      "body_poses": [
        [
          -0.3192624940273132,
          -0.46139108896936326,
          1.4217794813632583,
          -0.42468932053686875,
          0.7030289538009113,
          0.3308319820276484,
          -0.46469287793895364
        ],
        [
          -0.3112620291195844,
          -0.4650368317445588,
          1.4047515301982676,
          0.6703500937660235,
          -0.14319568706530478,
          0.6130216023853887,
          -0.3928489048000893
        ],
        [
          -0.29378857491193816,
          -0.4579272361204705,
          1.396229086410525,
          0.36658912112110137,
          -0.5479065385945407,
          0.7325397820817393,
          0.16969475215411253
        ],
        [
          -0.30355499424726784,
          -0.4869160855655996,
          1.390615383424604,
          -0.3705464075368317,
          -0.9237093671037502,
          0.09098892402262983,
          0.03431298138521576
        ],
        [
          -0.28655194682767526,
          -0.5138203475254096,
          1.4183111945023645,
          0.5796659346090383,
          -0.28323740139414894,
          -0.2413681737128648,
          -0.7249175011157039
        ],
        [
          -0.2489130546637769,
          -0.5403376319683594,
          1.4004185305742032,
          -0.22561184031666243,
          -0.4127584666287303,
          0.8313533709538357,
          -0.2959414103144789
        ],
        [
          -0.3394551585764042,
          -0.43573853123239276,
          1.3922565031562872,
          -0.7036776607914146,
          0.13029732157703172,
          0.1752668064401274,
          0.6761226991110814
        ],
        [
          -0.3893160820523014,
          -0.4383266016060525,
          1.3895750479782707,
          -0.07187414678726194,
          -0.46908648535010894,
          0.8557230999640089,
          -0.20622791390467154
        ],
        [
          -0.4058991588174782,
          -0.42335458778341956,
          1.3973546594534756,
          0.5691989255478427,
          -0.5907659729523831,
          -0.5419911107050246,
          0.18235620163169655
        ],
        [
          -0.42416295441207286,
          -0.43164790778036505,
          1.3860270553861043,
          -0.10120777265040676,
          -0.45418957649581193,
          -0.70319467261313,
          0.5375742439572528
        ],
        [
          -0.31372843429288383,
          -0.4503235890962874,
          1.4364128210167766,
          0.7277499439710553,
          -0.03603770930389485,
          0.6284916652537106,
          -0.27217554861682913
        ],
        [
          -0.296259531125313,
          -0.4399319117778794,
          1.4324948541164417,
          -0.24456052742463805,
          0.6286638807652194,
          0.5496073414170356,
          0.4928525577771664
        ],
        [
          -0.3049988993896455,
          -0.4443936165508937,
          1.4620069979365515,
          -0.16764165803545142,
          -0.005642632824516838,
          0.2360451181112342,
          0.9571557539929361
        ],
        [
          -0.27249086534718525,
          -0.4688540501921389,
          1.4731835713464339,
          -0.02645213184162783,
          -0.29602137328078965,
          0.9255388751811653,
          -0.23462613198527557
        ],
        [
          -0.24024898573874204,
          -0.4346618521445472,
          1.4883939228212988,
          0.623750489864961,
          -0.1841078961832077,
          0.14782902168495882,
          0.7451081728875898
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.22306379052637904,
            -0.5330413535590176,
            1.3826798975105017
          ],
          "distance_m": -0.0007381140497867804,
          "contact_frame": [
            0.21610551600149763,
            0.3023783315719213,
            0.9283672498260093,
            -0.06855481399915128,
            0.9531879901655188,
            -0.29450448703162496,
            -0.9739602884262112,
            1.3877787807814457e-17,
            0.22671867273943663
          ],
          "force_torque_contact_frame": [
            1.103718894909328,
            1.103718894909328,
            0.0,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.220501782637484,
            -0.5315715992009914,
            1.383758704316674
          ],
          "distance_m": -0.0013823612571116448,
          "contact_frame": [
            -0.347323960442255,
            -0.2189512899008287,
            0.9118258601034905,
            -0.07793813643116423,
            0.9757357903914169,
            0.20461015184705272,
            -0.9345007829811295,
            1.3877787807814457e-17,
            -0.3559610745680711
          ],
          "force_torque_contact_frame": [
            1.69132043059669,
            0.0,
            1.69132043059669,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.3924240281420037,
            -0.4135100530366707,
            1.3555143809475656
          ],
          "distance_m": -6.0028194603018204e-05,
          "contact_frame": [
            -0.23654639304797165,
            -0.11448903994746697,
            0.9648513168711033,
            -0.027261225321043844,
            0.9934245113403973,
            0.11119606945431106,
            -0.9712376792165706,
            0.0,
            -0.23811209643781267
          ],
          "force_torque_contact_frame": [
            4.655901724581154,
            -1.163362005464488,
            -3.3249014959597507,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 38,
      "physics_step": 253,
      "sim_time_s": 1.264999999999995,
      "qpos": [
        -0.3243033973316698,
        -0.46537501860899017,
        1.4247465991395345,
        -0.42705638453718286,
        0.7101729899714002,
        0.3305146580745807,
        -0.45170480353761433,
        -0.30836511733768696,
        0.06355441754760496,
        -0.2991942909964517,
        -0.0546546314739468,
        0.5315341003119425,
        0.31021934965599574,
        0.6030463548689614,
        -0.7391390863490359,
        0.4406674771336923,
        -0.03174052313346287,
        -0.03970854668115992,
        0.6300434057123872,
        -0.24708809089523723,
        -0.4998923657095451
      ],
      "qvel": [
        -0.1774056970578101,
        -0.14907381192931043,
        0.08852965835929334,
        -0.24419070793372075,
        1.0541234389736425,
        -0.21995953922033915,
        2.2104635328207634,
        -0.44587141778117834,
        -3.116565706515217,
        -1.120421310758379,
        3.7597293354670263,
        -2.3310321267649594,
        0.03312689087969215,
        0.9163796543290395,
        -0.09863180649386899,
        -0.2600620926809929,
        -0.44309667360603255,
        -1.5328315779335482,
        0.8073371528078355,
        -1.8515058730306204
      ],
      "target_rad": [
        -0.030582338571548462,
        0.06489171087741852,
        -0.7800471782684326,
        -0.1641649454832077,
        0.916767954826355,
        0.06894832849502563,
        0.5448930263519287,
        -0.5546380877494812,
        0.2597039043903351,
        -0.010219823569059372,
        -0.15266139805316925,
        0.5084835290908813,
        -0.13801100850105286,
        -0.6281180381774902
      ],
      "policy_call": 63,
      "body_poses": [
        [
          -0.3243033973316698,
          -0.46537501860899017,
          1.4247465991395345,
          -0.42705638453718286,
          0.7101729899714002,
          0.3305146580745807,
          -0.45170480353761433
        ],
        [
          -0.3159796832045897,
          -0.4690767967610658,
          1.4078865095299427,
          0.6859199813736572,
          -0.11264882411669075,
          0.6113302115371461,
          -0.3782848054567315
        ],
        [
          -0.29814121281013106,
          -0.4615675600343697,
          1.4005448245892453,
          0.39992365254287604,
          -0.5421555522243222,
          0.7173509369014422,
          0.17758395945503744
        ],
        [
          -0.30750011093432394,
          -0.4901981498064478,
          1.3928020631177833,
          -0.3407040727725318,
          -0.9378727007285567,
          0.05965344644971923,
          0.027513603017469853
        ],
        [
          -0.28865348516014366,
          -0.5177456354404529,
          1.4186079077383782,
          0.6014898023952016,
          -0.25422087233532115,
          -0.22849072546574378,
          -0.7220621538758196
        ],
        [
          -0.24969055224603595,
          -0.5415003838607533,
          1.3996975458640253,
          -0.18528254604929728,
          -0.39072305037683297,
          0.8546924794038083,
          -0.28723969378253345
        ],
        [
          -0.34333443176680034,
          -0.43919647163996123,
          1.3949152889241043,
          -0.6707030938523397,
          0.11559318954889634,
          0.18455147342919181,
          0.7090390173198702
        ],
        [
          -0.3930231873696092,
          -0.43758666028475984,
          1.389582740373458,
          -0.05557105614207668,
          -0.42987762291653947,
          0.8762329584651863,
          -0.2105537687485715
        ],
        [
          -0.4087557575402883,
          -0.4214166685637322,
          1.3967031049130412,
          0.5629173621137795,
          -0.6209848951108735,
          -0.5243883658447959,
          0.1500621379350102
        ],
        [
          -0.4272680284375789,
          -0.4282433028818683,
          1.3848139127574834,
          -0.09257362707745913,
          -0.4929767667520924,
          -0.677476864609763,
          0.5379861791262869
        ],
        [
          -0.31890702459200404,
          -0.45448999339539464,
          1.4395670373028946,
          0.7315242886287552,
          -0.027287886740599607,
          0.621023152829391,
          -0.28010324888024624
        ],
        [
          -0.30115605557241154,
          -0.44445339580569554,
          1.4360075699708472,
          -0.23113307455333906,
          0.6264146717717531,
          0.5491056489078875,
          0.5026580817753311
        ],
        [
          -0.3108195326698569,
          -0.4486335584833005,
          1.4652717708035354,
          -0.1299538778674718,
          -0.023897231368408448,
          0.24008341912244882,
          0.9617176632580925
        ],
        [
          -0.28062203719373874,
          -0.4751486424687372,
          1.4781194348956987,
          -0.005870391501564248,
          -0.2474758615362254,
          0.9383733650057969,
          -0.2411983920100195
        ],
        [
          -0.24658692569455853,
          -0.44391578071954585,
          1.4956157068470108,
          0.6807672866051482,
          -0.20444455880259457,
          0.12811537058687814,
          0.6916247361710421
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.2197421315616909,
            -0.5303174571933117,
            1.3849437201305592
          ],
          "distance_m": -0.0005604764475845681,
          "contact_frame": [
            -0.3921588392263077,
            -0.2678360032716116,
            0.8800427945095421,
            -0.10901725419269558,
            0.963464516913565,
            0.2446453820058657,
            -0.9134148472107075,
            0.0,
            -0.40702987223917586
          ],
          "force_torque_contact_frame": [
            1.8422431801425478,
            1.1516461549758823,
            0.6905970251666657,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.3930458252128387,
            -0.41331036835875823,
            1.355312021383819
          ],
          "distance_m": -0.0002013008781883172,
          "contact_frame": [
            -0.23643905893876663,
            -0.11452091060588711,
            0.9648738427598443,
            -0.027256541539459823,
            0.9934208378295667,
            0.11123003150817358,
            -0.9712639457693557,
            0.0,
            -0.23800493198364997
          ],
          "force_torque_contact_frame": [
            4.71925308074081,
            -0.511811599864498,
            -2.4892988643816794,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 39,
      "physics_step": 260,
      "sim_time_s": 1.2999999999999943,
      "qpos": [
        -0.3301903323124858,
        -0.4710491171781917,
        1.4270385021413463,
        -0.4374489583961246,
        0.7164054313194712,
        0.32513973332946117,
        -0.4355293567425223,
        -0.22834044559496233,
        0.04320437475873345,
        -0.4118155253962091,
        -0.09152317689868492,
        0.6536458680398406,
        0.24442260875822208,
        0.604570298300896,
        -0.6974438697790872,
        0.4381531173745353,
        -0.03540856082648754,
        -0.058097739522343636,
        0.5870761222197821,
        -0.21744141696883715,
        -0.5513180799681205
      ],
      "qvel": [
        -0.1674334902134148,
        -0.16390701300460406,
        0.03548373412438876,
        0.1801070774696684,
        1.3221398163144902,
        -0.7092067196918579,
        2.225734515120693,
        -0.7028374254852433,
        -3.093529946525339,
        -0.9409237977333382,
        3.1101237774227783,
        -1.5997326245650647,
        0.06123023928695809,
        1.306543298568712,
        -0.05057580586915463,
        -0.012281411860244352,
        -0.47854262545461135,
        -1.001640328060319,
        0.897036757846206,
        -1.1426707819970334
      ],
      "target_rad": [
        -0.0421924851834774,
        0.03802397847175598,
        -0.7361523509025574,
        -0.14395643770694733,
        0.8402584195137024,
        0.12308324873447418,
        0.5541355609893799,
        -0.49620959162712097,
        0.25014734268188477,
        0.035353779792785645,
        -0.12669716775417328,
        0.47383975982666016,
        -0.07887687534093857,
        -0.5837066173553467
      ],
      "policy_call": 65,
      "body_poses": [
        [
          -0.3301903323124858,
          -0.4710491171781917,
          1.4270385021413463,
          -0.4374489583961246,
          0.7164054313194712,
          0.32513973332946117,
          -0.4355293567425223
        ],
        [
          -0.32170832571000285,
          -0.4747877911653733,
          1.4102656705135916,
          0.7001703741057389,
          -0.06897447575954205,
          0.6134247577984654,
          -0.3587673834648574
        ],
        [
          -0.30345884266496825,
          -0.4669869238892329,
          1.404383252785392,
          0.4423291623291206,
          -0.5288915131740414,
          0.6990310773468501,
          0.1896687437323117
        ],
        [
          -0.31241861939163956,
          -0.4948392572666118,
          1.3938371669501854,
          -0.30010405821477876,
          -0.953537534063685,
          0.016798538359140247,
          0.02053130496982524
        ],
        [
          -0.2909579084817648,
          -0.522841195215755,
          1.4169743716807728,
          0.6302935734506662,
          -0.2174427374527872,
          -0.20785243845041015,
          -0.7157136515576926
        ],
        [
          -0.25054839948324886,
          -0.542703905285267,
          1.3966631843399655,
          -0.1392047916159713,
          -0.36716061451563714,
          0.8801756091302214,
          -0.26665709484635375
        ],
        [
          -0.3477761081230657,
          -0.4437753580217305,
          1.3973015518460425,
          -0.6333264969635222,
          0.10152152373176293,
          0.18626505735305462,
          0.744242068733257
        ],
        [
          -0.3968019215954842,
          -0.4373550703564128,
          1.3898685497834706,
          -0.04146682773554827,
          -0.3830479034215065,
          0.8990400504498299,
          -0.20804276860565474
        ],
        [
          -0.4112292256540935,
          -0.41988087405909164,
          1.3966646772817688,
          0.5617692382924758,
          -0.6531761039048263,
          -0.4944855680856818,
          0.11515347650411592
        ],
        [
          -0.4301379002289375,
          -0.4247698862511775,
          1.384449130400508,
          -0.07163296011408496,
          -0.5336656638443547,
          -0.646353031268227,
          0.5406453895384966
        ],
        [
          -0.32467702623059563,
          -0.4605832117827718,
          1.4421155801175827,
          0.7314703018738211,
          -0.009570934010130601,
          0.6172161768850386,
          -0.2896615019125107
        ],
        [
          -0.3065237774906808,
          -0.4511496323725074,
          1.4389585024028253,
          -0.216692216728982,
          0.62576948619393,
          0.5423994551429855,
          0.5169718216868856
        ],
        [
          -0.3172175728435741,
          -0.45517214008274287,
          1.467884479874149,
          -0.09151915923372195,
          -0.040955771597493196,
          0.23934012043864675,
          0.9657448809154623
        ],
        [
          -0.28954539652307315,
          -0.4837499699204015,
          1.4819400547064687,
          0.014743962279753203,
          -0.19576854824161907,
          0.95011241810674,
          -0.24237096372095643
        ],
        [
          -0.2539787498056361,
          -0.4560011669704009,
          1.502065103181418,
          0.7338011916161895,
          -0.2187530969012313,
          0.10539521371889932,
          0.6344877797908546
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.21931995324908476,
            -0.532527612839729,
            1.3847155296576206
          ],
          "distance_m": -0.00010936756354918881,
          "contact_frame": [
            -0.3921244386051396,
            -0.26778845359927106,
            0.8800725928964697,
            -0.10898684351012757,
            0.9634777341064561,
            0.24460687607421813,
            -0.9134332447367476,
            0.0,
            -0.4069885838812889
          ],
          "force_torque_contact_frame": [
            1.8069059450294453,
            1.1792973242660518,
            0.41302826229245065,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.41628978088991403,
            -0.4119104888016172,
            1.3498427391450296
          ],
          "distance_m": -5.112570641711464e-05,
          "contact_frame": [
            -0.23712054190922915,
            -0.11447254808380558,
            0.9647123324286231,
            -0.027323405450003127,
            0.9934264118369316,
            0.11116382405897127,
            -0.9710959170541744,
            3.469446951953614e-18,
            -0.2386895889659031
          ],
          "force_torque_contact_frame": [
            3.793644055343565,
            -1.9755886009902053,
            -1.8180554543533594,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.39344755594587144,
            -0.4122342008706335,
            1.355427298959764
          ],
          "distance_m": -3.474748107951738e-05,
          "contact_frame": [
            -0.23713018539297415,
            -0.11448189048081216,
            0.9647088534513577,
            -0.02732677630627878,
            0.9934253352677993,
            0.11117261598418594,
            -0.9710934674232963,
            3.469446951953614e-18,
            -0.2386995549384198
          ],
          "force_torque_contact_frame": [
            1.801948288309751,
            0.742710833182188,
            -1.0592374551275632,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 40,
      "physics_step": 267,
      "sim_time_s": 1.3349999999999935,
      "qpos": [
        -0.3353714940024959,
        -0.4772886700929843,
        1.4273017772002725,
        -0.4554128030439117,
        0.719163926639421,
        0.32345047344316935,
        -0.4132580509483703,
        -0.15625473866308595,
        0.01189689123662786,
        -0.5067070379595396,
        -0.11531692117167082,
        0.7372618907626485,
        0.20850333773696228,
        0.6059706981563137,
        -0.6427339225841504,
        0.43707763691147294,
        -0.030264650554957594,
        -0.07182830891512236,
        0.5564913064373511,
        -0.18395108766552698,
        -0.5766747875540618
      ],
      "qvel": [
        -0.13418069474768712,
        -0.18642896750989701,
        -0.019240956409576293,
        0.3570203977296656,
        1.4237758301397043,
        -1.1471763377294084,
        1.8898969556364553,
        -1.0125177473286349,
        -2.415941381051369,
        -0.482479989341533,
        1.8760956451959767,
        -0.6832195441502996,
        0.011673593701532767,
        1.626967126242638,
        -0.02123660911132824,
        0.2384170008705533,
        -0.3094279988465357,
        -0.777741845890325,
        0.969450044481176,
        -0.45983750803807627
      ],
      "target_rad": [
        -0.04796670377254486,
        0.03329932689666748,
        -0.7379792928695679,
        -0.13244107365608215,
        0.8277596235275269,
        0.13640141487121582,
        0.5531011819839478,
        -0.510286271572113,
        0.25992292165756226,
        0.04360654205083847,
        -0.1172206699848175,
        0.46448561549186707,
        -0.06695316731929779,
        -0.5810832977294922
      ],
      "policy_call": 66,
      "body_poses": [
        [
          -0.3353714940024959,
          -0.4772886700929843,
          1.4273017772002725,
          -0.4554128030439117,
          0.719163926639421,
          0.32345047344316935,
          -0.4132580509483703
        ],
        [
          -0.32667690373219,
          -0.4807566104802852,
          1.4105797112542948,
          0.7131521264781783,
          -0.018223403259137988,
          0.6146958153620482,
          -0.3364981525204756
        ],
        [
          -0.30801481622845955,
          -0.47285039143593127,
          1.4063704131624744,
          0.4902099747238799,
          -0.5131505717123059,
          0.6756600889268606,
          0.19963495601695685
        ],
        [
          -0.31629793316222043,
          -0.4995911724787644,
          1.3928215902216836,
          -0.25756862462470076,
          -0.9661251509845185,
          -0.016133801900800576,
          0.0005446836753668222
        ],
        [
          -0.2932130606780569,
          -0.5279321415334707,
          1.413890026799657,
          0.654697407044702,
          -0.1717371337484974,
          -0.19195897989731275,
          -0.7106542141840688
        ],
        [
          -0.2511730192602791,
          -0.543772398511104,
          1.3933541757952779,
          -0.09102985143070595,
          -0.35463963939858456,
          0.8988263642639075,
          -0.24094700500290475
        ],
        [
          -0.3512274617937185,
          -0.44828789793259993,
          1.3982338023524234,
          -0.6045328953055266,
          0.08256652624292363,
          0.17887928005165876,
          0.771832203529947
        ],
        [
          -0.3993642015397889,
          -0.4380336797664282,
          1.3894187415801067,
          -0.025433249662407183,
          -0.346704155316912,
          0.9170502715764075,
          -0.19536677788005008
        ],
        [
          -0.41272464337617154,
          -0.41981011500256527,
          1.3964246154616384,
          0.5672985592834318,
          -0.6745717211153786,
          -0.4640003625453045,
          0.0884816436567703
        ],
        [
          -0.4320012608892838,
          -0.42290535527999845,
          1.384197943597303,
          -0.0456729508846635,
          -0.5626726057157557,
          -0.6220442599263474,
          0.5425628618208314
        ],
        [
          -0.32978566709562357,
          -0.4675980825765698,
          1.442862659288161,
          0.7329212652636461,
          0.02050992739321688,
          0.6146237716914986,
          -0.29093535549048843
        ],
        [
          -0.3112203991338338,
          -0.45875139452317637,
          1.4405032237639546,
          -0.20960530138112882,
          0.6218261903776793,
          0.5264179067384112,
          0.5406311071871991
        ],
        [
          -0.32304631758163876,
          -0.46340296034313483,
          1.4688891461250204,
          -0.055710602865779224,
          -0.058617466099726824,
          0.22370835230682923,
          0.971295472296943
        ],
        [
          -0.29784528475397737,
          -0.49413130389048815,
          1.483055222916601,
          0.03782300397873302,
          -0.1446846540273294,
          0.9620732387220852,
          -0.22814656384397686
        ],
        [
          -0.261332565911072,
          -0.4705847770778502,
          1.506558040572377,
          0.7766587295540869,
          -0.2185737461608125,
          0.07554436916817671,
          0.5859349653192255
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.21922720368511497,
            -0.5337103697049022,
            1.3844464390592666
          ],
          "distance_m": -2.219438696540391e-05,
          "contact_frame": [
            -0.3901516426707741,
            -0.2657928934045302,
            0.8815530803853756,
            -0.10756876591674407,
            0.9640301539970875,
            0.24305312749170846,
            -0.9144455458475619,
            0.0,
            -0.40470896169908904
          ],
          "force_torque_contact_frame": [
            1.744438925713049,
            1.1436622822850036,
            0.34500684845722746,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.4167722151123908,
            -0.4109051328589307,
            1.3497886206806624
          ],
          "distance_m": -0.00015692439109626718,
          "contact_frame": [
            -0.2371605738510886,
            -0.11451133029955933,
            0.964697889208662,
            -0.027337399802454077,
            0.9934219421942648,
            0.11120032076849222,
            -0.9710857473893144,
            0.0,
            -0.23873095990536475
          ],
          "force_torque_contact_frame": [
            4.385234016021032,
            -0.8466751574862931,
            -2.516870570055682,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 41,
      "physics_step": 273,
      "sim_time_s": 1.3649999999999929,
      "qpos": [
        -0.33900920193706247,
        -0.48317982887201927,
        1.42570316955242,
        -0.4767196716365167,
        0.7169128226544486,
        0.3275738930464895,
        -0.38919108929004215,
        -0.10713205322349675,
        -0.020444131735192668,
        -0.5689038419896252,
        -0.12395284772174536,
        0.7783859784781418,
        0.1971834725633488,
        0.6057021639691458,
        -0.5982401259103158,
        0.4367127521531473,
        -0.020636144704718203,
        -0.07792063204791308,
        0.5349600918086739,
        -0.1559642619012273,
        -0.5844034392290338
      ],
      "qvel": [
        -0.10643555827291798,
        -0.2070897915291927,
        -0.0883951263402362,
        0.6658243172327334,
        1.377789826922969,
        -1.771819953214477,
        1.4133926000830992,
        -0.9522498319220785,
        -1.906432612371578,
        -0.14490245026719017,
        1.0434265106137401,
        -0.19436264161721917,
        -0.033590936619044734,
        1.274631787032141,
        -0.005729256841095831,
        0.39621334245595363,
        -0.18096287532391203,
        -0.7223758562483581,
        0.8979446287523745,
        -0.14954446624962492
      ],
      "target_rad": [
        -0.06824212521314621,
        0.03043793886899948,
        -0.7471932172775269,
        -0.10411013662815094,
        0.8026931285858154,
        0.1611299216747284,
        0.5433788895606995,
        -0.5997606515884399,
        0.2893868684768677,
        0.06462615728378296,
        -0.09296536445617676,
        0.4281974136829376,
        -0.055671826004981995,
        -0.5901585817337036
      ],
      "policy_call": 68,
      "body_poses": [
        [
          -0.33900920193706247,
          -0.48317982887201927,
          1.42570316955242,
          -0.4767196716365167,
          0.7169128226544486,
          0.3275738930464895,
          -0.38919108929004215
        ],
        [
          -0.33003698357861827,
          -0.4860682607269552,
          1.409017659097304,
          0.7227644047613265,
          0.029020947866621905,
          0.6147268774772425,
          -0.3144523269146008
        ],
        [
          -0.3110687666677938,
          -0.47821604273917134,
          1.4063625847299392,
          0.5337351221697226,
          -0.4972411499184549,
          0.651980235710416,
          0.20688119883941575
        ],
        [
          -0.31853192108271977,
          -0.5037148929400181,
          1.3901959535219928,
          -0.22024317589298342,
          -0.9745229303893279,
          -0.03405369454200502,
          -0.025265539891502667
        ],
        [
          -0.2948915712441084,
          -0.5325229286386041,
          1.4099755344858824,
          0.6706134396839503,
          -0.12685303356176436,
          -0.181806798304174,
          -0.7079069221880965
        ],
        [
          -0.25140648051406045,
          -0.5450858617474404,
          1.3901962626109523,
          -0.04838128904421442,
          -0.35185246575040807,
          0.9094253341049614,
          -0.21634383491067385
        ],
        [
          -0.35325375150384347,
          -0.452223400825809,
          1.3978428746417533,
          -0.587447306413887,
          0.06007627494993606,
          0.16472873314197328,
          0.7900385736485585
        ],
        [
          -0.40065398357557414,
          -0.43944639015935805,
          1.3883578338945834,
          -0.0082130575130748,
          -0.3250893393908614,
          0.9292858586463013,
          -0.17514925069981513
        ],
        [
          -0.4134320690702924,
          -0.42105370777175566,
          1.3959809404325016,
          0.5790267017626798,
          -0.680248756495347,
          -0.4442469737354026,
          0.06807594479185164
        ],
        [
          -0.4329034811924106,
          -0.4227380190278208,
          1.383787204107514,
          -0.021585650327237,
          -0.5793351633537064,
          -0.6126116646621196,
          0.5372260013456078
        ],
        [
          -0.3334884648987343,
          -0.4744879017781155,
          1.4418655290938946,
          0.7356837669473532,
          0.05557120499143785,
          0.6128973735331205,
          -0.28290996048593664
        ],
        [
          -0.3146167134074388,
          -0.46608800665755756,
          1.4405243513970873,
          -0.21136641751743343,
          0.6142190047771932,
          0.5052197071342316,
          0.5681657321940146
        ],
        [
          -0.3274807693010169,
          -0.4720011175716127,
          1.468215526621064,
          -0.02633343191135032,
          -0.07457514167562439,
          0.1966567520101401,
          0.9772774531813635
        ],
        [
          -0.30433945145376606,
          -0.5047054809769906,
          1.481440688508598,
          0.05902832888814559,
          -0.10238636297274727,
          0.9722559862557261,
          -0.20186873521125087
        ],
        [
          -0.2675717866614824,
          -0.4854510274932603,
          1.5082251027595224,
          0.8079122412116909,
          -0.20575742848400025,
          0.043579932202433745,
          0.550492943309162
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.22031876743672918,
            -0.5361306848152317,
            1.3832203999505854
          ],
          "distance_m": -0.00014934478785864856,
          "contact_frame": [
            -0.2371310350223008,
            -0.1144827135835579,
            0.9647085469300029,
            -0.027327073301391044,
            0.9934252404134623,
            0.11117339058531658,
            -0.9710932515953516,
            3.469446951953614e-18,
            -0.23870043298236235
          ],
          "force_torque_contact_frame": [
            1.6568625843426772,
            0.8511076700589822,
            0.5036734791848252,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.2199460345553138,
            -0.5356361130674308,
            1.383446902049523
          ],
          "distance_m": -0.00018615438251800155,
          "contact_frame": [
            -0.3917824299770657,
            -0.26760471573977396,
            0.8802807754774042,
            -0.10881130655414889,
            0.9635287832305971,
            0.24448391246080847,
            -0.9136009123940522,
            1.3877787807814457e-17,
            -0.4066120668066251
          ],
          "force_torque_contact_frame": [
            1.430424112056193,
            0.8034671193719456,
            0.403666339206086,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.41749079235206166,
            -0.41111000324733116,
            1.3495289481416604
          ],
          "distance_m": -0.00027026007264808495,
          "contact_frame": [
            -0.23712054191054438,
            -0.11447254808531297,
            0.9647123324281212,
            -0.027323405450519263,
            0.993426411836758,
            0.1111638240603967,
            -0.971095917053839,
            0.0,
            -0.23868958896726877
          ],
          "force_torque_contact_frame": [
            4.555949284789284,
            -1.0246223921095743,
            -2.0618275631306595,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 42,
      "physics_step": 280,
      "sim_time_s": 1.3999999999999921,
      "qpos": [
        -0.34302873278135354,
        -0.4907245849036421,
        1.4221840780282868,
        -0.5066329192460673,
        0.7070289763517681,
        0.3434498722824622,
        -0.3542249242562392,
        -0.06668858866363199,
        -0.0634233505909034,
        -0.6213312728760302,
        -0.12252088841613742,
        0.798338087831953,
        0.1985971984746757,
        0.6009485846746311,
        -0.5679179553872868,
        0.43666319366693473,
        -0.004801381495657543,
        -0.07680695178309298,
        0.5101682245932692,
        -0.1280909870435315,
        -0.5872436693652846
      ],
      "qvel": [
        -0.11281094060993914,
        -0.22556179764803436,
        -0.11723854339603802,
        0.497704068207476,
        1.258989784573333,
        -2.8676779707478053,
        0.9331644591401117,
        -1.2724645691110086,
        -1.3012446110568532,
        0.1465453001511496,
        0.29406803336077203,
        0.17241450013375542,
        -0.24383890234332362,
        0.529802511417117,
        -0.000468299448617988,
        0.518184427218007,
        0.12020334070962768,
        -0.7497509934458051,
        0.7090354055152815,
        -0.06757618307236686
      ],
      "target_rad": [
        -0.1227598637342453,
        0.04078230261802673,
        -0.7856031656265259,
        -0.05834704637527466,
        0.7753709554672241,
        0.1889292299747467,
        0.5207957029342651,
        -0.7748261094093323,
        0.341225266456604,
        0.1002856194972992,
        -0.05986720323562622,
        0.3693687319755554,
        -0.06171931326389313,
        -0.6201781630516052
      ],
      "policy_call": 70,
      "body_poses": [
        [
          -0.34302873278135354,
          -0.4907245849036421,
          1.4221840780282868,
          -0.5066329192460673,
          0.7070289763517681,
          0.3434498722824622,
          -0.3542249242562392
        ],
        [
          -0.33348758200574985,
          -0.4924103336304018,
          1.405650031545123,
          0.7338169459440388,
          0.08741529631771834,
          0.6119728570760439,
          -0.28170991820884167
        ],
        [
          -0.31428908766540037,
          -0.4846950379601105,
          1.4050239103239912,
          0.5878113509563494,
          -0.4768813583157079,
          0.6171192492794461,
          0.21500190219300075
        ],
        [
          -0.320270301071381,
          -0.5083715725769962,
          1.385765229301462,
          -0.17417183944754835,
          -0.9814243318607415,
          -0.045676904558813985,
          -0.06621232185234388
        ],
        [
          -0.296756028977288,
          -0.538005557585782,
          1.4044442770500494,
          0.6843988316445262,
          -0.06578933651147786,
          -0.17433205219637743,
          -0.7048959767384017
        ],
        [
          -0.2514757217093161,
          -0.5468383394478636,
          1.3867899365555725,
          0.007137388859516126,
          -0.35663448681676047,
          0.9154736159995676,
          -0.18619602278751549
        ],
        [
          -0.3553722420789458,
          -0.4570627152157818,
          1.3966513545231893,
          -0.5759773532589759,
          0.02162921972059259,
          0.140248057307589,
          0.8050544998995467
        ],
        [
          -0.4020449036917719,
          -0.44220465812035864,
          1.3866064156321973,
          0.02084952895019772,
          -0.31189676722426685,
          0.9394589218644825,
          -0.14036608517312615
        ],
        [
          -0.4147278211120617,
          -0.4242494863745359,
          1.3953492641896252,
          0.6000730989005439,
          -0.6670566192759775,
          -0.4397801023249024,
          0.039258174372972215
        ],
        [
          -0.4340612333084563,
          -0.4244875639757455,
          1.3828263854510883,
          0.0024742291361663643,
          -0.5926459955978921,
          -0.6216779774630136,
          0.5121338637792469
        ],
        [
          -0.337923272298515,
          -0.4836347647048261,
          1.4392404176944238,
          0.7421813856747141,
          0.10630707293958934,
          0.6089753837973644,
          -0.25887174223895065
        ],
        [
          -0.31883536496935405,
          -0.47563282643563054,
          1.4395879485985839,
          -0.22434278205518604,
          0.5959449712193733,
          0.47286042249406934,
          0.6090344228833119
        ],
        [
          -0.33306548295995364,
          -0.48397682714236884,
          1.4659532931663979,
          0.005686978745188115,
          -0.09686859399474243,
          0.14691035080813086,
          0.9843787292478767
        ],
        [
          -0.3121424800667189,
          -0.5189887683684028,
          1.4767418429264183,
          0.08726747794093188,
          -0.05732661118717116,
          0.9827245208972389,
          -0.1528089099853647
        ],
        [
          -0.27597327930919463,
          -0.5055877128020275,
          1.5075995911635924,
          0.8391980305346742,
          -0.1759074084852626,
          -0.00477067260302845,
          0.5145682557927928
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.2207737816921772,
            -0.5372426518423972,
            1.3829445383403207
          ],
          "distance_m": -0.0002112331311667172,
          "contact_frame": [
            -0.23713090947181023,
            -0.11448259195279344,
            0.9647085922250523,
            -0.027327029414030885,
            0.9934252544302316,
            0.11117327612171235,
            -0.9710932834885003,
            0.0,
            -0.23870030323299374
          ],
          "force_torque_contact_frame": [
            1.815867440344126,
            0.48711228235537424,
            0.1738165142966751,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.2196595086305549,
            -0.5358072691821979,
            1.3835961576819285
          ],
          "distance_m": -5.649926858641311e-05,
          "contact_frame": [
            -0.3921462266504089,
            -0.26783296763968967,
            0.8800493385993555,
            -0.10901241695517679,
            0.963465360791615,
            0.24464421412384504,
            -0.9134208394127193,
            0.0,
            -0.40701642488548684
          ],
          "force_torque_contact_frame": [
            0.18419561588512912,
            0.18395696656002983,
            0.00023864932509929835,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.42200071785769755,
            -0.41756594200000263,
            1.3476055500535054
          ],
          "distance_m": -0.0003644643059251551,
          "contact_frame": [
            -0.23712054191045945,
            -0.11447254808514372,
            0.9647123324281621,
            -0.02732340545046854,
            0.9934264118367775,
            0.11116382406023487,
            -0.9710959170538612,
            0.0,
            -0.2386895889671786
          ],
          "force_torque_contact_frame": [
            4.639942733110607,
            -0.7763626308537439,
            -1.5736408466848768,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 43,
      "physics_step": 287,
      "sim_time_s": 1.4349999999999914,
      "qpos": [
        -0.3467690981376785,
        -0.4990162353079759,
        1.4172356335197587,
        -0.5409286895715041,
        0.6867698358533005,
        0.3708029844868364,
        -0.31344615495510564,
        -0.0459091849438214,
        -0.10896950140255181,
        -0.6617693753315947,
        -0.11490100746933649,
        0.8012441640706812,
        0.20973822621606608,
        0.5842206604965002,
        -0.5691214633498077,
        0.4366392553651451,
        0.017965084279116163,
        -0.06861461946150264,
        0.47816007629130514,
        -0.10827945566293058,
        -0.5918106386930976
      ],
      "qvel": [
        -0.1046909778830156,
        -0.24494997913015196,
        -0.1596239059381523,
        0.7246430399217627,
        1.0136332753662702,
        -3.790837299818558,
        0.3629493865285031,
        -1.3201054907884278,
        -1.0576233595258606,
        0.24948281227548777,
        -0.018559798006914634,
        0.3989427587353288,
        -0.6496209311415246,
        -0.43018297067070216,
        -0.0009794308672581974,
        0.7403842623987945,
        0.3193807286458077,
        -1.0417707176011086,
        0.4642299587024671,
        -0.17220426871209213
      ],
      "target_rad": [
        -0.14806659519672394,
        0.04378613829612732,
        -0.8059086203575134,
        -0.034088149666786194,
        0.7524756193161011,
        0.20476913452148438,
        0.504701554775238,
        -0.8753663897514343,
        0.3770630359649658,
        0.1188623458147049,
        -0.04156160354614258,
        0.3346906304359436,
        -0.06488877534866333,
        -0.6264252066612244
      ],
      "policy_call": 71,
      "body_poses": [
        [
          -0.3467690981376785,
          -0.4990162353079759,
          1.4172356335197587,
          -0.5409286895715041,
          0.6867698358533005,
          0.3708029844868364,
          -0.31344615495510564
        ],
        [
          -0.33646093487039436,
          -0.49892494829469825,
          1.401080651726633,
          0.7424917866208158,
          0.1469456289048337,
          0.6076671139723191,
          -0.2405277687564228
        ],
        [
          -0.3172246821220689,
          -0.49142835537310736,
          1.402586531791742,
          0.6421315561826675,
          -0.45315166891460085,
          0.575941366363503,
          0.22497149158432853
        ],
        [
          -0.3212524186001687,
          -0.5128152051022514,
          1.3803687461791752,
          -0.12441894520476512,
          -0.9843781441345355,
          -0.05268777916045342,
          -0.11288752522541823
        ],
        [
          -0.2981705823249731,
          -0.5434537442263191,
          1.3979331886388162,
          0.6942786644386486,
          0.0014944579731506116,
          -0.1679923625429212,
          -0.6998238841507907
        ],
        [
          -0.2512590293949114,
          -0.5486526530774453,
          1.3833634409248818,
          0.06689167483240151,
          -0.36637949789107405,
          0.9151734241375771,
          -0.15410766079433574
        ],
        [
          -0.35752425726818493,
          -0.462432279148991,
          1.39525053934018,
          -0.5720507024227509,
          -0.02953974836919315,
          0.1068041487379818,
          0.812698142569722
        ],
        [
          -0.40369921483180177,
          -0.4462971923819918,
          1.3848807626299713,
          0.059045190416090076,
          -0.31378188498104764,
          0.9430064717362121,
          -0.09377306868226001
        ],
        [
          -0.41702275224767166,
          -0.42958671660745584,
          1.3950259751820355,
          0.6269175238266089,
          -0.6296217244305429,
          -0.4588381042534176,
          0.004300759159909184
        ],
        [
          -0.43580551342724816,
          -0.4286359835581634,
          1.3817231939262238,
          0.018942515582468067,
          -0.597958338111062,
          -0.6537519580396541,
          0.4633523328377465
        ],
        [
          -0.3424182349561136,
          -0.49403185733011057,
          1.4352210711221378,
          0.7497936171282208,
          0.16627454186562016,
          0.6026650114160128,
          -0.2166960831581722
        ],
        [
          -0.32335354030778723,
          -0.48637547148946036,
          1.437754285251493,
          -0.25054217376331184,
          0.5648820869390566,
          0.4322404251153976,
          0.6567381989174911
        ],
        [
          -0.33897973464002557,
          -0.4981338952350769,
          1.461937161873385,
          0.03626575217749042,
          -0.12224901395112674,
          0.07603340393588486,
          0.9889180427582964
        ],
        [
          -0.31998138749730204,
          -0.5352092497326881,
          1.468606628053749,
          0.1179554779080595,
          -0.017300986661399516,
          0.9894315418129953,
          -0.08253729555529123
        ],
        [
          -0.28531838033068124,
          -0.5288130634291923,
          1.5032124763302726,
          0.8651094573213474,
          -0.1283051702825653,
          -0.06529688510841947,
          0.48047864357020353
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.22147811693830616,
            -0.5384030282877147,
            1.3827049139608427
          ],
          "distance_m": -7.38831118447762e-05,
          "contact_frame": [
            -0.23711678961251353,
            -0.11447265600464578,
            0.9647132419071985,
            -0.027322999173970117,
            0.9934263994012046,
            0.11116403505134738,
            -0.9710968447070528,
            0.0,
            -0.23868581482778936
          ],
          "force_torque_contact_frame": [
            2.03612961909412,
            0.31571766005982277,
            -0.28740747394309596,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.42679910664789633,
            -0.42658928683296793,
            1.3453353199660927
          ],
          "distance_m": -0.0004032585809204265,
          "contact_frame": [
            -0.23715388136488694,
            -0.11450484671440436,
            0.9647003040491279,
            -0.027335060009731436,
            0.9934226895329654,
            0.11119421934324472,
            -0.9710874476831802,
            0.0,
            -0.23872404351503115
          ],
          "force_torque_contact_frame": [
            4.754496148698022,
            -0.4174403793845637,
            -0.9734213826427058,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 44,
      "physics_step": 293,
      "sim_time_s": 1.4649999999999908,
      "qpos": [
        -0.34992818344270904,
        -0.5066914334678126,
        1.411902839471793,
        -0.5739484390142897,
        0.6581365106329394,
        0.40289421117636803,
        -0.2740725767484408,
        -0.04032831700878077,
        -0.1491507826269321,
        -0.6905381205029949,
        -0.10782571408816241,
        0.7980501241784759,
        0.22248049304767312,
        0.5591263309986167,
        -0.5949365459774356,
        0.43667195229434547,
        0.04246461778345719,
        -0.05682307477514653,
        0.4416470261932356,
        -0.09786419909541706,
        -0.597531750660317
      ],
      "qvel": [
        -0.1067502514814679,
        -0.2644408634623075,
        -0.19124445200621953,
        1.0429233606578405,
        0.7537387580143108,
        -4.653141857874041,
        0.09151689692949634,
        -1.3426187327413006,
        -0.8862398750508848,
        0.21795025789605174,
        -0.18296087526031501,
        0.4170257357894638,
        -0.9715749652992882,
        -1.1680783103976886,
        0.003367063046210508,
        0.8542423821290402,
        0.4392016174641424,
        -1.3562285133855365,
        0.2537820008336513,
        -0.18956414762439538
      ],
      "target_rad": [
        -0.16500058770179749,
        0.05858379602432251,
        -0.8260740041732788,
        0.020649541169404984,
        0.6829817295074463,
        0.23105530440807343,
        0.4433790445327759,
        -1.0631417036056519,
        0.4620985984802246,
        0.13161857426166534,
        -0.015362381935119629,
        0.2589000463485718,
        -0.0926826000213623,
        -0.619672417640686
      ],
      "policy_call": 73,
      "body_poses": [
        [
          -0.34992818344270904,
          -0.5066914334678126,
          1.411902839471793,
          -0.5739484390142897,
          0.6581365106329394,
          0.40289421117636803,
          -0.2740725767484408
        ],
        [
          -0.3388863257918937,
          -0.5045841006746187,
          1.3963823198890644,
          0.7464704453428552,
          0.19991070419799278,
          0.6037949141219495,
          -0.1955742474283573
        ],
        [
          -0.3197949337214366,
          -0.4973480028877009,
          1.399796648172966,
          0.6888391939204778,
          -0.42751579072584406,
          0.5348733983094,
          0.23799424652708578
        ],
        [
          -0.3217992064971915,
          -0.5161904535230787,
          1.3751350394522495,
          -0.07485532571376378,
          -0.983326324569722,
          -0.05707362299156665,
          -0.15559119891273857
        ],
        [
          -0.29908347992488477,
          -0.5478338871125666,
          1.3913427463033083,
          0.6993113253245541,
          0.06578679741792594,
          -0.15963720823263544,
          -0.6936510140596618
        ],
        [
          -0.25104109913281575,
          -0.5499799832641028,
          1.3800589561981091,
          0.12264087764400326,
          -0.3748761609897485,
          0.9108545015285205,
          -0.12153664508092059
        ],
        [
          -0.3598377433709707,
          -0.46762943299520854,
          1.3942007378068364,
          -0.5724436123608839,
          -0.08391915847425162,
          0.06927407372710334,
          0.8126912010213019
        ],
        [
          -0.40577838985849846,
          -0.4508784916575612,
          1.383766996166816,
          0.09977628375240491,
          -0.32596850391102977,
          0.9390970194863941,
          -0.043428281687562575
        ],
        [
          -0.42018872715008865,
          -0.43598886682705856,
          1.3951829165922343,
          0.6523975622804762,
          -0.576000916242427,
          -0.4914572619492596,
          -0.03271276349854735
        ],
        [
          -0.43815533927474054,
          -0.43399519397696806,
          1.3809040469825935,
          0.027888506742451705,
          -0.5954033483205203,
          -0.696392816029453,
          0.3996925440672566
        ],
        [
          -0.34643623618064406,
          -0.5040059395978644,
          1.4305534273175802,
          0.7539247064234341,
          0.2247272766596936,
          0.5950044025867265,
          -0.16451428227320428
        ],
        [
          -0.3276402060261436,
          -0.49674851463815595,
          1.43530095650499,
          -0.284621168107152,
          0.5262139239897227,
          0.3893047422769113,
          0.7003795503192286
        ],
        [
          -0.3442812596048643,
          -0.5121027880975701,
          1.4566216418205156,
          0.06148524632661512,
          -0.1436484475137633,
          -0.003358805552259682,
          0.9877111958646118
        ],
        [
          -0.32652975445121757,
          -0.5503460274059125,
          1.4581512157464513,
          0.14364079729696955,
          0.013100154336699116,
          0.9895363701797426,
          -0.0036714302040497457
        ],
        [
          -0.2936659792742872,
          -0.551103861237484,
          1.4950212302433823,
          0.8807901589068212,
          -0.07041909893257955,
          -0.12524898623691877,
          0.45117905306545686
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.222335651634693,
            -0.5392927643075219,
            1.382421330278443
          ],
          "distance_m": -1.0657580767545254e-05,
          "contact_frame": [
            -0.2371163271919056,
            -0.11447266931204374,
            0.9647133539863522,
            -0.02732294910763756,
            0.9934263978677914,
            0.11116406106060524,
            -0.9710969590267918,
            3.469446951953614e-18,
            -0.2386853497157238
          ],
          "force_torque_contact_frame": [
            1.9622180731362888,
            -0.1526766957904055,
            -1.1433067527199856,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.42912772522669546,
            -0.4333405750231464,
            1.343936397529143
          ],
          "distance_m": -0.00045237311278052364,
          "contact_frame": [
            -0.23716297117583734,
            -0.11451365279628643,
            0.9646970241616278,
            -0.02733823796589513,
            0.9934216744782911,
            0.11120250636414869,
            -0.9710851383107297,
            0.0,
            -0.23873343744023579
          ],
          "force_torque_contact_frame": [
            4.414716930033844,
            -0.16997765341867854,
            0.22605949463747232,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 45,
      "physics_step": 300,
      "sim_time_s": 1.49999999999999,
      "qpos": [
        -0.354171143633982,
        -0.5165114435260735,
        1.4045900213929872,
        -0.6144525171817957,
        0.6096942241030998,
        0.4492704770480364,
        -0.2210816493454458,
        -0.04148545321542225,
        -0.19411646713425712,
        -0.7187993689652129,
        -0.09542201884824306,
        0.7821743943923279,
        0.23502049412597853,
        0.5186513607954238,
        -0.649394946917374,
        0.43696208694802513,
        0.07164048915000598,
        -0.038117077954633274,
        0.3870653231511735,
        -0.09475008292581455,
        -0.6020533260150815
      ],
      "qvel": [
        -0.16121239622480493,
        -0.2856009418156445,
        -0.18406180255112964,
        0.8518015973782939,
        0.5489105966358475,
        -5.733276007167044,
        -0.26567654173601946,
        -1.608390611053117,
        -0.8322391750956496,
        0.6923742015732491,
        -0.7556725425642006,
        0.3081374110933487,
        -1.2419732362668086,
        -1.7488754162232598,
        0.012872457625764031,
        0.8171783323074056,
        0.7800175779701705,
        -1.695426193211589,
        -0.007880645831567206,
        -0.06113419721659219
      ],
      "target_rad": [
        -0.1198086068034172,
        0.11449098587036133,
        -0.8284401893615723,
        0.11859842389822006,
        0.5187348127365112,
        0.2903198301792145,
        0.2873477637767792,
        -1.0910475254058838,
        0.5798799395561218,
        0.09188112616539001,
        0.016290798783302307,
        0.17029353976249695,
        -0.21413232386112213,
        -0.6376373767852783
      ],
      "policy_call": 75,
      "body_poses": [
        [
          -0.354171143633982,
          -0.5165114435260735,
          1.4045900213929872,
          -0.6144525171817957,
          0.6096942241030998,
          0.4492704770480364,
          -0.2210816493454458
        ],
        [
          -0.3422387501548232,
          -0.5115684739525656,
          1.3904325132205049,
          0.7462872190184229,
          0.26584120027663016,
          0.5964540617548245,
          -0.12894337975018125
        ],
        [
          -0.32355946227129945,
          -0.5048318732538648,
          1.3962807963181931,
          0.7443496964168211,
          -0.3878340174490313,
          0.4775978302324751,
          0.25967020797688894
        ],
        [
          -0.3227631393079167,
          -0.5196990117502613,
          1.368975411086211,
          -0.004581654138155455,
          -0.9760238903634486,
          -0.059884099343460465,
          -0.20921345207940106
        ],
        [
          -0.3003689589713583,
          -0.552668561225859,
          1.382814138586954,
          0.7007681351200351,
          0.1517418958897683,
          -0.1441029393086769,
          -0.6820064227811689
        ],
        [
          -0.25142722986900806,
          -0.5512549125021213,
          1.376278945417809,
          0.1952157900178047,
          -0.3878801737031708,
          0.8976400786297234,
          -0.07537940974394726
        ],
        [
          -0.3638450985209507,
          -0.47504989803719716,
          1.3934204867218951,
          -0.572224798387283,
          -0.16063557678982204,
          0.015575708332331432,
          0.8040599411051262
        ],
        [
          -0.40960520100078046,
          -0.45781828029513927,
          1.3829761403552205,
          0.15925848392418002,
          -0.3469072261784191,
          0.9239096196081849,
          0.02613668913279517
        ],
        [
          -0.42574763587901693,
          -0.4459524278308122,
          1.3955580849230016,
          0.6790119436226656,
          -0.48746797152189414,
          -0.5417332896632331,
          -0.08855958462385494
        ],
        [
          -0.4422759891458107,
          -0.44226344969800196,
          1.3799419080981923,
          0.03362507170540843,
          -0.5847257002234761,
          -0.754393259853845,
          0.29640516111913606
        ],
        [
          -0.3519038908829486,
          -0.5171261839718266,
          1.4236092658350592,
          0.7523832451504565,
          0.29913527865135364,
          0.5804714261826542,
          -0.0865474486540127
        ],
        [
          -0.333753742419243,
          -0.5107088396893879,
          1.4312178007207055,
          -0.33502371620226484,
          0.4654601221332265,
          0.32942498989253116,
          0.7500567713980391
        ],
        [
          -0.3511430259211598,
          -0.5305184923290677,
          1.4477235718806722,
          0.08960624763888142,
          -0.16480081989401787,
          -0.11555946095748502,
          0.9754267892207764
        ],
        [
          -0.3342139240115401,
          -0.5686656484085668,
          1.4415428861590036,
          0.17008850206068363,
          0.043312109944177925,
          0.9785758845780214,
          0.1076252791925663
        ],
        [
          -0.30369914233608825,
          -0.5788571449158644,
          1.4790259689863439,
          0.8861765155661131,
          0.01604281145254248,
          -0.20063879847931504,
          0.4173462399549994
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.24903880821805477,
            -0.5712009162867049,
            1.3716684947464046
          ],
          "distance_m": -0.0007884980376441271,
          "contact_frame": [
            -0.23719750935340958,
            -0.11163862713992308,
            0.9650254703824415,
            -0.02664697802488812,
            0.9937488701529744,
            0.1084118150010777,
            -0.9710959170538616,
            0.0,
            -0.23868958896717657
          ],
          "force_torque_contact_frame": [
            4.036914540860269,
            1.1354611149035818,
            1.0409680298608457,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.4311284650045048,
            -0.4432814223357733,
            1.3422542043838566
          ],
          "distance_m": -0.00047329682323273,
          "contact_frame": [
            -0.23726631774330348,
            -0.1146137748928362,
            0.9646597208701875,
            -0.027374382002314346,
            0.9934101280965552,
            0.1112967232454626,
            -0.9710588744636058,
            -3.469446951953614e-18,
            -0.23884024435901682
          ],
          "force_torque_contact_frame": [
            4.329486784899227,
            -0.45421611168077347,
            -0.42513786868095493,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 46,
      "physics_step": 307,
      "sim_time_s": 1.5349999999999893,
      "qpos": [
        -0.36133688025441224,
        -0.5271089786812776,
        1.398328510061072,
        -0.6464949013507205,
        0.5533421838236082,
        0.5033851368176329,
        -0.14986718840338045,
        -0.053606024680786506,
        -0.23385046035015722,
        -0.7544432949117662,
        -0.04829223242110163,
        0.7239764824308386,
        0.24294653348684608,
        0.45794375907665585,
        -0.713693353819683,
        0.4373608233288975,
        0.09388869337445559,
        -0.005361241841357623,
        0.32364140436692007,
        -0.10832399772488702,
        -0.606868263681788
      ],
      "qvel": [
        -0.22391345568412158,
        -0.31717286403199324,
        -0.19799091869753438,
        0.4626223132361154,
        0.8539272958705064,
        -6.985351491352817,
        -0.13831492381636876,
        -0.6173202264408857,
        -0.9602152747655265,
        1.639991782529052,
        -2.4086905432961894,
        0.15207737575463415,
        -2.263276694625854,
        -1.5002247028749498,
        0.008459628811758014,
        0.4811424793878334,
        1.0106346636095807,
        -1.6803443821583144,
        -0.559699361861868,
        -0.14562136339680334
      ],
      "target_rad": [
        -0.012642398476600647,
        0.11776010692119598,
        -0.7266660928726196,
        0.12163691967725754,
        0.40251725912094116,
        0.36513352394104004,
        0.0756773054599762,
        -0.876503586769104,
        0.6834182143211365,
        0.09636411815881729,
        0.08052375167608261,
        0.2304043471813202,
        -0.20095208287239075,
        -0.6236380934715271
      ],
      "policy_call": 76,
      "body_poses": [
        [
          -0.36133688025441224,
          -0.5271089786812776,
          1.398328510061072,
          -0.6464949013507205,
          0.5533421838236082,
          0.5033851368176329,
          -0.14986718840338045
        ],
        [
          -0.3482055688586325,
          -0.5194293784157595,
          1.3866733652404823,
          0.7460039665677644,
          0.3359513724931935,
          0.5723220308116329,
          -0.055337602340076605
        ],
        [
          -0.3302891782105833,
          -0.5138122220230154,
          1.3953883236572475,
          0.8024803966010279,
          -0.33974706340232924,
          0.4069665900380587,
          0.2738162533038243
        ],
        [
          -0.32596054988600714,
          -0.5239496521673028,
          1.3663066200122174,
          0.06822127387494298,
          -0.9571622436514684,
          -0.058748769153050384,
          -0.27519970792493126
        ],
        [
          -0.3041529340836166,
          -0.5581503613950345,
          1.3779143874868645,
          0.7028102470488273,
          0.24629809981464898,
          -0.14045023132334328,
          -0.6524329353980202
        ],
        [
          -0.25505269577162704,
          -0.5527659499575468,
          1.3783323721488738,
          0.28007489287176995,
          -0.4262154286814896,
          0.8590409692807235,
          -0.044125682249161996
        ],
        [
          -0.37089294382579513,
          -0.4843126087089743,
          1.394513273703594,
          -0.5613215795345627,
          -0.2561145705021163,
          -0.03509289234831581,
          0.7861882090390114
        ],
        [
          -0.4159221646618644,
          -0.46594395138342903,
          1.3828959719965197,
          0.24146479217828334,
          -0.3682251016402647,
          0.8930756352096734,
          0.09230892944429815
        ],
        [
          -0.4343180579139607,
          -0.4576078168371662,
          1.395215954135065,
          0.6841882997937658,
          -0.37995897875634865,
          -0.6017522050693576,
          -0.15941087974762883
        ],
        [
          -0.4485280542743271,
          -0.4515677786750208,
          1.3781205178306533,
          0.023070614054544525,
          -0.5695735156315753,
          -0.804902120413532,
          0.1648827874947294
        ],
        [
          -0.36092147889962484,
          -0.5314240361566566,
          1.4169955323383026,
          0.7480535538505647,
          0.3772072117703448,
          0.546013324948077,
          -0.00022122189503093193
        ],
        [
          -0.34391023841686047,
          -0.5266767516669624,
          1.4277927999191058,
          -0.38379899797414385,
          0.38554183153949556,
          0.2632623993903395,
          0.7967111988383583
        ],
        [
          -0.36173967872078294,
          -0.5501261090812124,
          1.437767201921613,
          0.11673447906985154,
          -0.18625091614098235,
          -0.23896706119922656,
          0.9458215483349587
        ],
        [
          -0.34494872692309264,
          -0.5860241811924872,
          1.4232967754997226,
          0.19891440388742018,
          0.06536075624516861,
          0.9507540751642918,
          0.22853384875694546
        ],
        [
          -0.3172421031946174,
          -0.6056851094749756,
          1.4591547021079292,
          0.8727461680975666,
          0.11029982613285669,
          -0.28218541503169814,
          0.3827786122152885
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.25014216151849683,
            -0.5724007462464916,
            1.371532268206466
          ],
          "distance_m": -0.0002533838559300594,
          "contact_frame": [
            -0.23718969848103458,
            -0.1119295350976426,
            0.9649936922629606,
            -0.026716414725744028,
            0.9937161461769783,
            0.1086943145310575,
            -0.9710959170538603,
            3.469446951953614e-18,
            -0.2386895889671815
          ],
          "force_torque_contact_frame": [
            1.9068147561663296,
            -0.4551340886303197,
            -1.248894731325401,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.43352253311908795,
            -0.4517545977876642,
            1.3407251609994832
          ],
          "distance_m": -0.0003482134257176936,
          "contact_frame": [
            -0.23735647891029682,
            -0.11469498793633398,
            0.9646278876652853,
            -0.02740444715009178,
            0.9934007548528861,
            0.11137296141395192,
            -0.9710359922246465,
            0.0,
            -0.23893325805399368
          ],
          "force_torque_contact_frame": [
            0.11252596759802005,
            0.11252596759802005,
            0.0,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.431766699788655,
            -0.4559533839855381,
            1.3408230541700032
          ],
          "distance_m": -3.073270020901648e-05,
          "contact_frame": [
            -0.23712054191009496,
            -0.1144725480861748,
            0.9647123324281294,
            -0.027323405450675912,
            0.9934264118366587,
            0.11116382406124566,
            -0.9710959170539445,
            0.0,
            -0.23868958896684023
          ],
          "force_torque_contact_frame": [
            3.676298141571252,
            0.29010847670553497,
            0.7698016238174459,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 47,
      "physics_step": 313,
      "sim_time_s": 1.5649999999999886,
      "qpos": [
        -0.3687057773270525,
        -0.5368198187287746,
        1.3910904349469277,
        -0.6729966771825178,
        0.483792811057241,
        0.5561702018212329,
        -0.06078400346103197,
        -0.04333079939354386,
        -0.23262770009458403,
        -0.7694729325983787,
        0.006492723125501785,
        0.6277803605679018,
        0.24929206771914345,
        0.36741984233857883,
        -0.7305007624333909,
        0.43788430993163563,
        0.09509523007709098,
        0.027661919226810966,
        0.2933875777962364,
        -0.12161202604976099,
        -0.6064043050562474
      ],
      "qvel": [
        -0.263265065852028,
        -0.32038758597889166,
        -0.2921679910488883,
        0.5563302248807793,
        1.6799390766745028,
        -9.447531319033597,
        0.7028961950864734,
        0.6810668258762039,
        0.08672815821655849,
        1.8949410424754214,
        -3.66269524253364,
        0.432080333561464,
        -3.6399429537271,
        0.06590636000022906,
        0.026196490765430527,
        -0.47587363260762533,
        1.1671422773840054,
        -0.289092554842602,
        -0.2701259775314859,
        0.23715011203625602
      ],
      "target_rad": [
        0.11225225031375885,
        0.15422257781028748,
        -0.36011195182800293,
        0.1349114179611206,
        0.20492678880691528,
        0.6213692426681519,
        -0.3044159412384033,
        -0.6139042973518372,
        1.0103399753570557,
        -0.19855867326259613,
        0.20908740162849426,
        0.5880665183067322,
        -0.09446892887353897,
        -0.46251943707466125
      ],
      "policy_call": 78,
      "body_poses": [
        [
          -0.3687057773270525,
          -0.5368198187287746,
          1.3910904349469277,
          -0.6729966771825178,
          0.483792811057241,
          0.5561702018212329,
          -0.06078400346103197
        ],
        [
          -0.35443921161658803,
          -0.5268391790930272,
          1.38308406652608,
          0.7363010359092781,
          0.4215576798463751,
          0.5281177379505462,
          0.035235804850493845
        ],
        [
          -0.33785582092814453,
          -0.5235392271629449,
          1.3950256522890174,
          0.8594270771448576,
          -0.2614997577436694,
          0.32033711427353223,
          0.3006444893710075
        ],
        [
          -0.3297834230779514,
          -0.5266872900568008,
          1.3651563353740874,
          0.17416366714034712,
          -0.9231861557993898,
          -0.040646927300248714,
          -0.34020900353990924
        ],
        [
          -0.3084799688127991,
          -0.5625286334802028,
          1.371603181299679,
          0.6835552043681434,
          0.3633333264869924,
          -0.11859191753778249,
          -0.621833686398407
        ],
        [
          -0.26043070599042284,
          -0.5550185208899695,
          1.3802557272318439,
          0.3821972941986965,
          -0.4581584135343737,
          0.8025058997080784,
          -0.0006142870555669866
        ],
        [
          -0.37854367847194226,
          -0.4941754923968632,
          1.3957894555907235,
          -0.5345613096090315,
          -0.36420620327180153,
          -0.0891999761188374,
          0.7573911882427826
        ],
        [
          -0.4222795994827002,
          -0.47354673534391567,
          1.3830763286822403,
          0.3417827087334613,
          -0.38720715998492694,
          0.8422991279914424,
          0.15423156049291586
        ],
        [
          -0.44306040564181953,
          -0.4689534896449646,
          1.3934079392505967,
          0.6696433813362306,
          -0.27032397844872635,
          -0.6552530425296388,
          -0.22168928427843
        ],
        [
          -0.45481688947124416,
          -0.4605179425933687,
          1.3754834689959758,
          0.0024632008344193995,
          -0.5430803054354286,
          -0.8389145213811458,
          0.035779048417372644
        ],
        [
          -0.370410671527305,
          -0.5451966665555079,
          1.4082418709291917,
          0.7321013067367569,
          0.4570718030877773,
          0.4976992961593866,
          0.08607237709550719
        ],
        [
          -0.35489045219221893,
          -0.543129946005989,
          1.4217826042166106,
          -0.4243791281296778,
          0.2937260398614596,
          0.19043105759044937,
          0.835082859014709
        ],
        [
          -0.3726572334009634,
          -0.5685488505373494,
          1.4241215736277373,
          0.1268082557291033,
          -0.20871602437646547,
          -0.3610222622565797,
          0.9000112297091437
        ],
        [
          -0.3541872027393154,
          -0.5997986320316869,
          1.402620178130609,
          0.2302690921698937,
          0.07188152234441782,
          0.906053858260684,
          0.3476716811413161
        ],
        [
          -0.3292238538106228,
          -0.6275140772786942,
          1.4350035890847452,
          0.836077755463492,
          0.201247963975122,
          -0.36523788093822346,
          0.35647515220945203
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.25346555644248464,
            -0.5728871715375565,
            1.3707160525716107
          ],
          "distance_m": -0.0001407545079607704,
          "contact_frame": [
            -0.23712250477623134,
            -0.11447444966452405,
            0.9647116243223415,
            -0.02732409154939142,
            0.9934261927158979,
            0.11116561359969246,
            -0.9710954184577573,
            3.469446951953614e-18,
            -0.2386916174698085
          ],
          "force_torque_contact_frame": [
            2.6607546158663147,
            -0.1643564221661391,
            -2.4963981937001756,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.43834211723398847,
            -0.45836269397834706,
            1.3388843815078442
          ],
          "distance_m": -0.00010132275918750906,
          "contact_frame": [
            -0.2374501093513383,
            -0.1147918383911516,
            0.96459332332741,
            -0.027438716346817504,
            0.9933895680138682,
            0.11146426784606427,
            -0.9710121329902508,
            -3.469446951953614e-18,
            -0.23903020224591628
          ],
          "force_torque_contact_frame": [
            1.3977091697113386,
            0.47253837989163205,
            0.9251707898197066,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.4378663675275007,
            -0.45900239665268644,
            1.3389422033162983
          ],
          "distance_m": -6.892320045996843e-05,
          "contact_frame": [
            -0.2375036282842234,
            -0.11482275518120176,
            0.9645764673909619,
            -0.027452391220261965,
            0.9933859949146646,
            0.11149274112556336,
            -0.9709986574491849,
            3.469446951953614e-18,
            -0.23908493727518865
          ],
          "force_torque_contact_frame": [
            1.582440151601306,
            0.4680503544639864,
            1.1143897971373196,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 48,
      "physics_step": 320,
      "sim_time_s": 1.5999999999999879,
      "qpos": [
        -0.37908535734201343,
        -0.5479153816964918,
        1.3889081815223288,
        -0.672378883285902,
        0.38389963415297185,
        0.6288638211326795,
        0.07111963637999348,
        -0.014769646494591646,
        -0.159089108881159,
        -0.6887121539798992,
        0.06707166719792365,
        0.49101254911151954,
        0.2816265731331131,
        0.22301958065563987,
        -0.7126545381009721,
        0.43939097765727925,
        0.04052985163287758,
        0.0971762338233122,
        0.31983230777523175,
        -0.10977550630093676,
        -0.5763315250634308
      ],
      "qvel": [
        -0.3241576984199649,
        -0.3351041459169928,
        0.09976704370646847,
        -1.1590198225136872,
        -0.3276366496560233,
        -10.48926701514261,
        0.7305662661232735,
        3.1824340894103624,
        4.535316359123827,
        1.487856122497433,
        -3.6869000724539664,
        1.5492377188303228,
        -4.429443579050617,
        0.4426781359227843,
        0.05378512718588861,
        -3.007385113020096,
        2.6112627504861696,
        2.000458582568784,
        0.5586145341746145,
        1.4671757506900265
      ],
      "target_rad": [
        -0.11720272898674011,
        0.35735026001930237,
        0.5262453556060791,
        0.19347837567329407,
        0.3983554244041443,
        1.051797866821289,
        -0.23152583837509155,
        -1.3410286903381348,
        1.6191459894180298,
        -1.4700983762741089,
        0.5880530476570129,
        1.6634776592254639,
        -0.28677111864089966,
        -0.19549822807312012
      ],
      "policy_call": 80,
      "body_poses": [
        [
          -0.37908535734201343,
          -0.5479153816964918,
          1.3889081815223288,
          -0.672378883285902,
          0.38389963415297185,
          0.6288638211326795,
          0.07111963637999348
        ],
        [
          -0.3638129726870858,
          -0.5364559650547074,
          1.3872692681073109,
          0.7173915364312057,
          0.5225788473117281,
          0.42902530660785576,
          0.16792265508041004
        ],
        [
          -0.3505014763660243,
          -0.5374696894962837,
          1.4030893954282562,
          0.9075598849844848,
          -0.15198842358881354,
          0.17309768436723777,
          0.3511007916946862
        ],
        [
          -0.3370013356497243,
          -0.530205275217921,
          1.3760297486117803,
          0.3490190744933836,
          -0.8428757363227433,
          0.00450149800219074,
          -0.40954354502776724
        ],
        [
          -0.3151999314487113,
          -0.566059528017271,
          1.3716511397602889,
          0.6125772241582452,
          0.5346482044465903,
          -0.060757938708993355,
          -0.5789722919177129
        ],
        [
          -0.27010491551502047,
          -0.5610268880750535,
          1.391173231685904,
          0.5333835195843536,
          -0.453490989987391,
          0.7104967926501332,
          0.07100880698854412
        ],
        [
          -0.3911723184497288,
          -0.5081310480172478,
          1.4033482586387833,
          -0.4953076038028511,
          -0.5186930512567554,
          -0.1324993492957775,
          0.6841577439664258
        ],
        [
          -0.4319318209060224,
          -0.4844196180121205,
          1.3867220429951879,
          0.5007271904119264,
          -0.4160990782735924,
          0.7350258485754215,
          0.1893959866734929
        ],
        [
          -0.45529965533524336,
          -0.4836199098356377,
          1.3903257589289126,
          0.5917298898395627,
          -0.1354357357154262,
          -0.7421578929491254,
          -0.28410308145987045
        ],
        [
          -0.46221119320548776,
          -0.4727611854966605,
          1.3712213419004273,
          -0.08090210674515079,
          -0.4950823283683894,
          -0.8558786165293644,
          -0.1257781023442101
        ],
        [
          -0.3840597679658486,
          -0.5607853798299949,
          1.4022073689783014,
          0.7124749002005109,
          0.5342400326578384,
          0.41441398730420625,
          0.18769163864342048
        ],
        [
          -0.3712783274809199,
          -0.5624377827723829,
          1.4184062684361725,
          -0.4680670271997932,
          0.1662489127816321,
          0.11809591311317141,
          0.859841794956048
        ],
        [
          -0.38718588087549544,
          -0.5882155956984891,
          1.4113561545544404,
          0.08879333274774476,
          -0.25270486809918735,
          -0.48776601264130165,
          0.8308672039565197
        ],
        [
          -0.3627755340778022,
          -0.6120116333118213,
          1.386498872974766,
          0.279083245861239,
          0.04307807506405286,
          0.8344871754555323,
          0.4731680201879427
        ],
        [
          -0.3406442380526806,
          -0.6460309225666355,
          1.4146572410888048,
          0.7539838554327262,
          0.28274895146718654,
          -0.47098669184301656,
          0.36018455310823383
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "trunk_base",
          "position_m": [
            -0.34778156235454283,
            -0.5773956571450589,
            1.3459482366562774
          ],
          "distance_m": -0.0021676689560437713,
          "contact_frame": [
            -0.23712704858616304,
            -0.11423339686907434,
            0.9647390807200504,
            -0.027266315182804066,
            0.9934539400695698,
            0.11093158710033599,
            -0.9710959328949779,
            0.0,
            -0.2386895245184265
          ],
          "force_torque_contact_frame": [
            5.7308718060636,
            -1.679806303866466,
            -4.051065502197135,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.45293709084138345,
            -0.4725732151471923,
            1.3336360100571296
          ],
          "distance_m": -5.269483760233828e-05,
          "contact_frame": [
            -0.23713134455858792,
            -0.11448301345673396,
            0.9647084352578772,
            -0.027327181503034762,
            0.993425205855914,
            0.1111736727882772,
            -0.9710931729648482,
            0.0,
            -0.2387007528707514
          ],
          "force_torque_contact_frame": [
            3.3465506420579043,
            1.0839213744228697,
            2.2626292676350346,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.4529155710589835,
            -0.47300030800369686,
            1.333586669477752
          ],
          "distance_m": -6.031851828696184e-05,
          "contact_frame": [
            -0.23714577842186252,
            -0.11449699671301453,
            0.9647032276925318,
            -0.027332227226965343,
            0.9934235943159896,
            0.11118683200412535,
            -0.9710895062410584,
            -3.469446951953614e-18,
            -0.23871566950767514
          ],
          "force_torque_contact_frame": [
            3.962773689524521,
            1.3430642810670474,
            2.6197094084574735,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 49,
      "physics_step": 327,
      "sim_time_s": 1.6349999999999871,
      "qpos": [
        -0.3933984197575192,
        -0.5609167431270868,
        1.3911825554968436,
        -0.6539390957815313,
        0.2542398151431148,
        0.6825329693665989,
        0.20463264923281668,
        -0.021699430817952996,
        -0.032096245679906335,
        -0.42794182413265586,
        0.11573676416574512,
        0.4080437394473202,
        0.37980018561080764,
        0.10846645687493785,
        -0.7918287057278759,
        0.44195771731488204,
        -0.23019125413944608,
        0.2249419800427711,
        0.5356811486087227,
        -0.10347346382213991,
        -0.49792282972679236
      ],
      "qvel": [
        -0.4564839444294138,
        -0.3992358295681254,
        -0.03444715745065544,
        0.23949162226114296,
        2.2187357537054675,
        -11.441003512865747,
        -1.0597621492132248,
        3.6781013724589493,
        9.056290988208627,
        1.300267835430318,
        -1.3976189810532451,
        4.603558271373893,
        -2.7901460957647193,
        -5.301292528683515,
        0.06055476891223315,
        -10.975459976997556,
        4.619301503056786,
        9.289473307500673,
        0.20575508840297901,
        2.587120446627504
      ],
      "target_rad": [
        -0.3772273063659668,
        0.3503956198692322,
        0.7752109169960022,
        0.1797717809677124,
        0.4834456443786621,
        1.3812803030014038,
        -0.1441788375377655,
        -2.1566340923309326,
        1.7681151628494263,
        -2.002711296081543,
        0.909439206123352,
        2.082987070083618,
        -0.08032095432281494,
        -0.2010580599308014
      ],
      "policy_call": 81,
      "body_poses": [
        [
          -0.3933984197575192,
          -0.5609167431270868,
          1.3911825554968436,
          -0.6539390957815313,
          0.2542398151431148,
          0.6825329693665989,
          0.20463264923281668
        ],
        [
          -0.3787909847083539,
          -0.5497274189419644,
          1.3965371671134457,
          0.665645162116375,
          0.6036192006863864,
          0.32427568932366135,
          0.2956444757262624
        ],
        [
          -0.3689680783856743,
          -0.555783705305715,
          1.4137223906166798,
          0.9044242564770565,
          -0.044178215809564755,
          0.019538894277074177,
          0.4238906476371419
        ],
        [
          -0.352932285407329,
          -0.5384428293570827,
          1.3934888203709275,
          0.5642448974187084,
          -0.7285463957684688,
          0.07495553116795181,
          -0.3810899018565755
        ],
        [
          -0.3286503847434382,
          -0.5659611599641226,
          1.3726770048527996,
          0.49424517059657835,
          0.6748240791180986,
          0.09063266410358504,
          -0.5404811687578535
        ],
        [
          -0.2844372971496266,
          -0.5668610671163411,
          1.3946859360521862,
          0.6424649480180553,
          -0.37448777094648894,
          0.629410114195368,
          0.2254786201134391
        ],
        [
          -0.4104553671931285,
          -0.5276035428830105,
          1.4143492319077344,
          -0.45306998472718085,
          -0.6693930144586053,
          -0.15913568763133273,
          0.5668477873780897
        ],
        [
          -0.44678997079527927,
          -0.500663200696869,
          1.3930416148666813,
          0.6597826199220667,
          -0.4216769357304315,
          0.5905737777696513,
          0.19518726734254327
        ],
        [
          -0.4698279307867033,
          -0.5014532769873118,
          1.38772088498265,
          0.44770610438525427,
          0.03695756484403795,
          -0.8133736963848235,
          -0.36961684556614466
        ],
        [
          -0.47010917041241645,
          -0.48621431965935,
          1.3704479268159233,
          -0.18926481100903667,
          -0.4249567720815427,
          -0.8184766168574761,
          -0.3371744368028055
        ],
        [
          -0.4003050888980812,
          -0.5772715506104411,
          1.3983983848715744,
          0.692795520920892,
          0.5665991199800616,
          0.3853262245960265,
          0.22477434032456117
        ],
        [
          -0.38838146441249827,
          -0.5806811139292628,
          1.4149725230724508,
          -0.5286279037834687,
          0.12282516562356122,
          0.07592890270715866,
          0.8364815119084982
        ],
        [
          -0.4009710955260124,
          -0.6070765398636931,
          1.4043879740425849,
          -0.03588737456739155,
          -0.28016416049202353,
          -0.5278531294403085,
          0.8009938909021291
        ],
        [
          -0.3681989804260232,
          -0.624603681415252,
          1.3844182803715572,
          0.30708650224614026,
          -0.07726167691053229,
          0.7980662567712311,
          0.5126585249679932
        ],
        [
          -0.34530604423642425,
          -0.6551572071822974,
          1.4157614699958032,
          0.6464794345677287,
          0.28370336675084523,
          -0.5259593927085651,
          0.4742820443542658
        ]
      ],
      "terrain_contacts": []
    },
    {
      "frame": 50,
      "physics_step": 333,
      "sim_time_s": 1.6649999999999865,
      "qpos": [
        -0.407922733423094,
        -0.574566084490784,
        1.3861707570052906,
        -0.6394764316799041,
        0.11919799197857672,
        0.6897451674956148,
        0.31798323218474556,
        -0.08520034012627309,
        0.06136297819842592,
        -0.13647131193741943,
        0.13592321076515212,
        0.391068999228227,
        0.5543393533814734,
        0.0426221674566086,
        -1.0651335843843204,
        0.4432558607795595,
        -0.5979417586829785,
        0.3925274396374895,
        0.8743491362141462,
        -0.0741638790967575,
        -0.42037856760638026
      ],
      "qvel": [
        -0.4602996286365372,
        -0.4890259755484555,
        -0.17521053038939746,
        1.4691495355630337,
        1.8496217805253727,
        -11.625381138095342,
        -3.1106869835878728,
        2.2772298428733944,
        10.100443019248717,
        -0.02376397455846141,
        -0.2850294775024103,
        6.063022483157201,
        -1.413845443243662,
        -11.462376251018428,
        0.03713633852366079,
        -7.656300238818654,
        6.558448331475082,
        11.752688197786183,
        1.982575661093818,
        2.658161705413254
      ],
      "target_rad": [
        -0.5285912752151489,
        -0.040407534688711166,
        0.6299194693565369,
        0.03624937683343887,
        0.254848450422287,
        1.4179399013519287,
        0.12326595187187195,
        -3.4077563285827637,
        1.9170036315917969,
        -2.7052438259124756,
        1.4543862342834473,
        2.119981527328491,
        0.44094687700271606,
        -0.013157695531845093
      ],
      "policy_call": 83,
      "body_poses": [
        [
          -0.407922733423094,
          -0.574566084490784,
          1.3861707570052906,
          -0.6394764316799041,
          0.11919799197857672,
          0.6897451674956148,
          0.31798323218474556
        ],
        [
          -0.3948187802945236,
          -0.5655113724619564,
          1.3968266756648542,
          0.5886715583991733,
          0.6667306202687241,
          0.25595648579554126,
          0.3787114385744998
        ],
        [
          -0.3864647865659101,
          -0.5758025835023706,
          1.4127264166723028,
          0.8735185880304162,
          0.05250735268131618,
          -0.08845324019084448,
          0.47579856933316617
        ],
        [
          -0.37124074211075725,
          -0.5519996343254457,
          1.3997303372285528,
          0.7286205660628218,
          -0.6151056406984166,
          0.13927159802890882,
          -0.2671339429457751
        ],
        [
          -0.34756294655863557,
          -0.5640228275560788,
          1.3669461076853595,
          0.3719132838786519,
          0.7246395238756056,
          0.27775174743068476,
          -0.5093447128528308
        ],
        [
          -0.30092281124222486,
          -0.5665530521986786,
          1.383017689465784,
          0.656866134492008,
          -0.26586505905605995,
          0.5718979783227539,
          0.4132497478777095
        ],
        [
          -0.4297812667523334,
          -0.5505445290206005,
          1.4158788881437083,
          -0.39963740511026846,
          -0.7860434467200713,
          -0.15886721196843653,
          0.4440572634993561
        ],
        [
          -0.46001510908950616,
          -0.5190394136807898,
          1.3915202657492418,
          0.7824795816390322,
          -0.3900840332019642,
          0.4524724918386689,
          0.17558130734277735
        ],
        [
          -0.4800315155021455,
          -0.5183434535706815,
          1.3789289551955628,
          0.24171392908895,
          0.2523107388869708,
          -0.8137114786535654,
          -0.46452911322555435
        ],
        [
          -0.4756050475955248,
          -0.4977805210800258,
          1.3695357560996002,
          -0.2831486628866605,
          -0.31044054752843714,
          -0.6950585452376851,
          -0.5833927663656895
        ],
        [
          -0.41480791180609994,
          -0.5924388676549895,
          1.3868094592829405,
          0.6654622378800011,
          0.5800363333521511,
          0.4166548867061479,
          0.2170635099021004
        ],
        [
          -0.4015200870911253,
          -0.5959850978691456,
          1.40228065722015,
          -0.6112458447617382,
          0.15020235119822475,
          0.031723888853566834,
          0.7764092772707186
        ],
        [
          -0.41030838957570676,
          -0.6237840224951411,
          1.3914531215320205,
          -0.20378291778538818,
          -0.27638878334186395,
          -0.5362831773076621,
          0.7710266639996799
        ],
        [
          -0.37081755280833734,
          -0.6318606249465831,
          1.378993459070126,
          0.2960806412580901,
          -0.23222743804522408,
          0.7629416826983261,
          0.525667822576763
        ],
        [
          -0.34610991654319456,
          -0.6544818281101787,
          1.4152951653333408,
          0.5138340416466756,
          0.28000581688627135,
          -0.5344035444589125,
          0.6099050514831338
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "trunk_base",
          "position_m": [
            -0.3728050933358305,
            -0.5909095233486713,
            1.3391015510679363
          ],
          "distance_m": -0.0004167140082257607,
          "contact_frame": [
            -0.23717741931769915,
            -0.11238531835007498,
            0.9649437351395928,
            -0.026825205442910165,
            0.9936647021099986,
            0.1091369237865598,
            -0.9710959170538932,
            0.0,
            -0.23868958896704734
          ],
          "force_torque_contact_frame": [
            5.006353882174602,
            -2.3421616282373634,
            0.8670810520801467,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.28674572163596596,
            -0.5703493309941295,
            1.3623227013612076
          ],
          "distance_m": -0.0011332978902970153,
          "contact_frame": [
            -0.23712054191042312,
            -0.1144725480852308,
            0.9647123324281606,
            -0.02732340545048541,
            0.9934264118367672,
            0.11116382406032037,
            -0.9710959170538693,
            0.0,
            -0.23868958896714434
          ],
          "force_torque_contact_frame": [
            7.025634275200168,
            -1.567175849116836,
            -5.4584584260833315,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 51,
      "physics_step": 340,
      "sim_time_s": 1.6999999999999857,
      "qpos": [
        -0.4230804976951032,
        -0.590918304345644,
        1.3860592490561015,
        -0.6095054467237253,
        -0.023882770991467107,
        0.6952796506165142,
        0.380156456084148,
        -0.18418096087273939,
        0.07288821768308963,
        0.08560392513542082,
        0.18741689139037676,
        0.33462154710505676,
        0.705610416423777,
        0.09119032783955455,
        -1.482394078326122,
        0.4456226456094282,
        -0.5893956210743954,
        0.4156067980769565,
        1.2521891612056728,
        0.057323154440915264,
        -0.2998841693451356
      ],
      "qvel": [
        -0.445506545822178,
        -0.394930327174312,
        0.22472579808641105,
        0.5451014155839228,
        4.373798920621977,
        -2.9087723344236713,
        -2.958419944570226,
        -0.5504658369046502,
        5.713564476556556,
        1.7739916161405487,
        -1.9234961521868001,
        3.052967117896892,
        3.628604986700927,
        -10.795574257231905,
        0.0676554842274055,
        1.6243985967939258,
        -0.578318606132527,
        10.247050890676714,
        4.373528185360734,
        4.260803785210043
      ],
      "target_rad": [
        -0.1371970772743225,
        0.07899627089500427,
        0.5295878648757935,
        0.09057078510522842,
        0.04657691717147827,
        1.044892430305481,
        0.11366863548755646,
        -3.3236708641052246,
        1.5784543752670288,
        -2.5866143703460693,
        1.120575189590454,
        1.6595237255096436,
        0.4221378564834595,
        -0.20675987005233765
      ],
      "policy_call": 85,
      "body_poses": [
        [
          -0.4230804976951032,
          -0.590918304345644,
          1.3860592490561015,
          -0.6095054467237253,
          -0.023882770991467107,
          0.6952796506165142,
          0.380156456084148
        ],
        [
          -0.4127585532355924,
          -0.5839737657832587,
          1.4006359718266805,
          0.519501729096562,
          0.6819177695250498,
          0.22584059930474787,
          0.4627117167063475
        ],
        [
          -0.40478752417703046,
          -0.5961284862540045,
          1.4153745425180873,
          0.8312277937104245,
          0.10866643635716201,
          -0.17156647059728816,
          0.5175102962642615
        ],
        [
          -0.39145425389689176,
          -0.568924997857265,
          1.408342891027489,
          0.8217970643634921,
          -0.5283971876779698,
          0.1481539521969197,
          -0.15328536624867595
        ],
        [
          -0.369663776277751,
          -0.5670867151940421,
          1.3722624713183198,
          0.3124568796435078,
          0.7306943632752254,
          0.40611890620883084,
          -0.45113620987568404
        ],
        [
          -0.32235328795400037,
          -0.5656321962231743,
          1.3863905309562048,
          0.6528595717521201,
          -0.232965495138864,
          0.49687046558661413,
          0.5221313992416878
        ],
        [
          -0.4515627114297956,
          -0.5773430696782437,
          1.4167493153112647,
          -0.3521851274446028,
          -0.8683642760946684,
          -0.1575284449568885,
          0.3115989554521571
        ],
        [
          -0.4762159706204786,
          -0.5422280271746144,
          1.3910753868770476,
          0.8602817560967922,
          -0.3376166254011539,
          0.32732749240597464,
          0.1969442233094742
        ],
        [
          -0.49291978035775547,
          -0.5395389019834087,
          1.3745395671641674,
          0.023932867232995064,
          0.5038900163668403,
          -0.6870771543528936,
          -0.5229216511468638
        ],
        [
          -0.4922483133222225,
          -0.5166268876343505,
          1.3768305779648282,
          -0.2968819336562546,
          -0.12422077743469666,
          -0.48735810797862233,
          -0.8117341871016269
        ],
        [
          -0.42781570904997673,
          -0.6088175135335704,
          1.3811149509389238,
          0.6019841583702201,
          0.6225247614761712,
          0.3584393143021325,
          0.3487108435121433
        ],
        [
          -0.4165580857744819,
          -0.6153629716817807,
          1.3972060321896373,
          -0.6679094342480217,
          0.003734530320365864,
          -0.01563115617029683,
          0.7440690209130822
        ],
        [
          -0.419741338785526,
          -0.6398763821248357,
          1.3783325161229898,
          -0.3715100614492517,
          -0.4401951044738956,
          -0.5602586173835404,
          0.5952468612993035
        ],
        [
          -0.3784386698887414,
          -0.6404624783425333,
          1.3869201186776134,
          0.4239586126316001,
          -0.35429909861638537,
          0.6056489910536595,
          0.5726434694736237
        ],
        [
          -0.3648831635632928,
          -0.6686764753178528,
          1.4251329257314975,
          0.27713463340409794,
          0.20922572370278764,
          -0.681091803574485,
          0.6446200017162632
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.31809464201640586,
            -0.5886895747978619,
            1.3528816199479101
          ],
          "distance_m": -0.000283298372757593,
          "contact_frame": [
            -0.2371205419101015,
            -0.11447254808499747,
            0.9647123324282673,
            -0.027323405450391924,
            0.9934264118367943,
            0.11116382406010308,
            -0.9710959170539506,
            3.469446951953614e-18,
            -0.23868958896681422
          ],
          "force_torque_contact_frame": [
            6.680300203514782,
            0.0,
            -6.680300203514782,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.5130599218313893,
            -0.5576073412758545,
            1.3040715013471724
          ],
          "distance_m": -0.009114329723171256,
          "contact_frame": [
            -0.23607356671313903,
            -0.11450513279509714,
            0.9649652043793675,
            -0.027210608624075327,
            0.9934226565584143,
            0.11122503411880903,
            -0.971354134122898,
            3.469446951953614e-18,
            -0.2376365841413218
          ],
          "force_torque_contact_frame": [
            1.7158830960649412,
            1.7158830960649412,
            0.0,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.49766572760780053,
            -0.5499048588901193,
            1.3115997312480905
          ],
          "distance_m": -0.0036544007024421547,
          "contact_frame": [
            -0.2377054719664524,
            -0.08872664585467079,
            0.9672764294205592,
            -0.02117432045988675,
            0.9960560136434997,
            0.08616301896801314,
            -0.9711064600497045,
            3.469446951953614e-18,
            -0.23864669126080892
          ],
          "force_torque_contact_frame": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.5109573042643852,
            -0.5586301826137887,
            1.3043464579583974
          ],
          "distance_m": -0.009346789489472748,
          "contact_frame": [
            -0.23712222028700902,
            -0.11447143737813392,
            0.9647120516873121,
            -0.027323330213612208,
            0.9934265398229424,
            0.11116269878630125,
            -0.9710955093461184,
            -3.469446951953614e-18,
            -0.23869124769836647
          ],
          "force_torque_contact_frame": [
            5.782508003292091,
            -1.707590146788113,
            2.8779989579720118,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 52,
      "physics_step": 347,
      "sim_time_s": 1.734999999999985,
      "qpos": [
        -0.438583635898094,
        -0.6051575046007799,
        1.392605633447227,
        -0.6494203333498016,
        -0.07133657158686396,
        0.658480417421393,
        0.37358782643257077,
        -0.21567101146355083,
        0.07761612464774269,
        0.20925959212687398,
        0.2397009128249102,
        0.23938784794730603,
        0.7722755075566281,
        0.1810687921723611,
        -1.9001581888633894,
        0.44424264131534824,
        -0.5516764500168535,
        0.39796239484439205,
        1.5169684572103126,
        0.1932643658849106,
        -0.19834984638058129
      ],
      "qvel": [
        -0.4594943704672764,
        -0.416964195049834,
        0.08572867725525452,
        1.2379340071833933,
        4.05756486645939,
        -0.03590144286190633,
        -0.4583633613812482,
        0.06490757726640395,
        3.4542220079113894,
        0.6128689368272532,
        -2.776813545691611,
        2.098735875858658,
        1.3346286782057124,
        -12.665314952531034,
        -0.051029062799394356,
        0.6729598324832357,
        -0.33701120428391385,
        6.154321106138563,
        3.5889525774986346,
        2.238002102542543
      ],
      "target_rad": [
        -0.25773248076438904,
        0.06536903977394104,
        0.615566074848175,
        0.0963326022028923,
        -0.0007716715335845947,
        1.1673940420150757,
        -0.007439166307449341,
        -3.1434459686279297,
        1.5952351093292236,
        -2.799558162689209,
        1.2862460613250732,
        1.785539150238037,
        0.5005372166633606,
        -0.09855642914772034
      ],
      "policy_call": 86,
      "body_poses": [
        [
          -0.438583635898094,
          -0.6051575046007799,
          1.392605633447227,
          -0.6494203333498016,
          -0.07133657158686396,
          0.658480417421393,
          0.37358782643257077
        ],
        [
          -0.42807133448227586,
          -0.5981922912409205,
          1.4070357173622507,
          0.4683034554057785,
          0.6981823681986938,
          0.27176463008133267,
          0.4683772413645092
        ],
        [
          -0.41769115475838847,
          -0.6100096957989712,
          1.420493087774451,
          0.8039035259129801,
          0.15703256897616558,
          -0.14522805862493282,
          0.5549673002019643
        ],
        [
          -0.4080498973446205,
          -0.5811900372845024,
          1.4138807176554342,
          0.8384065068104665,
          -0.5118002038987884,
          0.18483306536060207,
          -0.031174004818641937
        ],
        [
          -0.39386188185000837,
          -0.5729243196773249,
          1.3750171226959733,
          0.28843856187763056,
          0.6787223372754553,
          0.49318685923481836,
          -0.46141728054267994
        ],
        [
          -0.3456765284322468,
          -0.5654907917991254,
          1.3829489811975755,
          0.6149756176768714,
          -0.23127778500988505,
          0.49255791225231504,
          0.5707033195115584
        ],
        [
          -0.46617151461568196,
          -0.5969638063190583,
          1.4259099262423274,
          -0.3405639606790536,
          -0.8679907541085891,
          -0.19728086266753264,
          0.3028010909718666
        ],
        [
          -0.49360762497541216,
          -0.5624541613278833,
          1.4023229753814854,
          0.8465996354871743,
          -0.31179272176668954,
          0.3323516370660393,
          0.27494862281129295
        ],
        [
          -0.5118578136006473,
          -0.5605267782856098,
          1.3873932132480256,
          -0.057860865719522814,
          0.6427041509094154,
          -0.5094264952852909,
          -0.5692698310321214
        ],
        [
          -0.518621015028451,
          -0.5404962098479664,
          1.3965417341400517,
          -0.20248241653716456,
          -0.01969249469574781,
          -0.32289977426926536,
          -0.9243099114597793
        ],
        [
          -0.4417662601561696,
          -0.6230663173056139,
          1.3865727792027516,
          0.5400290819935557,
          0.642909731682388,
          0.38468390963862775,
          0.38347614942055663
        ],
        [
          -0.4290816850291297,
          -0.6300509055492255,
          1.4013652462354573,
          -0.6977980540769262,
          -0.013542908038276697,
          -0.07148099764578747,
          0.712590297677343
        ],
        [
          -0.4312148722765867,
          -0.6526303941041584,
          1.3800845928440564,
          -0.42941066485755325,
          -0.49862936030829547,
          -0.5575828252104437,
          0.5060401515447894
        ],
        [
          -0.3927221355435506,
          -0.6516690914569514,
          1.3973294761556838,
          0.4425064952127419,
          -0.3785836560683482,
          0.5451096856842685,
          0.603090248325784
        ],
        [
          -0.3798802047102969,
          -0.6825575923895267,
          1.4336748379314623,
          0.18184302620546255,
          0.1861965938827533,
          -0.7244726871025443,
          0.6382814958067631
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.5149183173696082,
            -0.5550468328620438,
            1.3082608425178277
          ],
          "distance_m": -0.0007361954621757515,
          "contact_frame": [
            -0.2356148459022916,
            -0.11450559399873246,
            0.965077257701909,
            -0.027157845807681994,
            0.993422603398472,
            0.11123840374658714,
            -0.9714669813233623,
            0.0,
            -0.23717483888151894
          ],
          "force_torque_contact_frame": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.5074764850250585,
            -0.557089068432728,
            1.3097501027717542
          ],
          "distance_m": -0.000924441929536182,
          "contact_frame": [
            -0.23712002723267311,
            -0.11448389406622615,
            0.9647111125537062,
            -0.0273260902700931,
            0.9934251043734666,
            0.11117484783492002,
            -0.9710959671812706,
            3.469446951953614e-18,
            -0.238689385026383
          ],
          "force_torque_contact_frame": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.5114292045931957,
            -0.5558275880481237,
            1.3088592512081485
          ],
          "distance_m": -0.0010575406458908218,
          "contact_frame": [
            -0.2370804859465533,
            -0.1144659591572284,
            0.9647229588734592,
            -0.027317196481007364,
            0.9934271710569507,
            0.111158565042026,
            -0.9711058716534282,
            0.0,
            -0.23864908556337655
          ],
          "force_torque_contact_frame": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 53,
      "physics_step": 353,
      "sim_time_s": 1.7649999999999844,
      "qpos": [
        -0.45292214304481127,
        -0.6181042460513019,
        1.3921672132677492,
        -0.6729105967142304,
        -0.11703825409404263,
        0.6383009287467643,
        0.35505675640569767,
        -0.2275323150190648,
        0.07236168585144631,
        0.291597682034188,
        0.24445645692948317,
        0.1503557084578088,
        0.8416620634592851,
        0.2024596388472657,
        -2.2919469037807607,
        0.44320694489031986,
        -0.5400258764228515,
        0.39260621299046033,
        1.5970294201552464,
        0.29712971295073043,
        -0.13635951694744278
      ],
      "qvel": [
        -0.5035537799230001,
        -0.4423696748423664,
        -0.1006831585409364,
        2.5493163923026505,
        2.78066044136583,
        -0.7234140190821887,
        -0.6286193932591837,
        -0.622556333327557,
        2.709807667522535,
        -0.38189860280940513,
        -2.944308443621592,
        2.7929396200555323,
        0.49083304082596346,
        -13.583641438523854,
        -0.02480350027271543,
        0.24397240735373965,
        -0.09128535982379156,
        0.04621882960152135,
        3.4030287658405807,
        2.1298634944266124
      ],
      "target_rad": [
        -0.4492533802986145,
        -0.18908117711544037,
        0.633693516254425,
        0.04414861649274826,
        -0.1142120361328125,
        1.4428788423538208,
        0.23459288477897644,
        -3.866685390472412,
        1.5557223558425903,
        -3.427952527999878,
        1.707348108291626,
        1.9991817474365234,
        0.6741248965263367,
        0.13623225688934326
      ],
      "policy_call": 88,
      "body_poses": [
        [
          -0.45292214304481127,
          -0.6181042460513019,
          1.3921672132677492,
          -0.6729105967142304,
          -0.11703825409404263,
          0.6383009287467643,
          0.35505675640569767
        ],
        [
          -0.4428657627748448,
          -0.6107382526339745,
          1.4067226712420529,
          0.4268378090528414,
          0.6966692570852943,
          0.3058200740171586,
          0.4888103040273737
        ],
        [
          -0.43094327582156294,
          -0.62183652974725,
          1.419496963784725,
          0.7735943745866856,
          0.18599422748447644,
          -0.1362107361983397,
          0.5902580167135331
        ],
        [
          -0.42445444117756814,
          -0.5919737442333799,
          1.41372123298114,
          0.8437857511795746,
          -0.49836370241420674,
          0.19098999188309435,
          0.05640965540419665
        ],
        [
          -0.41548030290755733,
          -0.5797400097092906,
          1.3743537150721477,
          0.2751560117140159,
          0.6302141115943077,
          0.5639030206195889,
          -0.45731031707270364
        ],
        [
          -0.3681403620103448,
          -0.5662425588510458,
          1.3784462468286136,
          0.586080958376622,
          -0.24003159331716423,
          0.4766847921773085,
          0.6096437921810073
        ],
        [
          -0.4804474351803656,
          -0.6143772147751512,
          1.426312069292764,
          -0.34338203458324135,
          -0.8693143895830976,
          -0.2228942144519474,
          0.276946636652423
        ],
        [
          -0.5093337999346249,
          -0.5811365200262189,
          1.4026343552161857,
          0.842339028343859,
          -0.31363673611124276,
          0.31023000981385124,
          0.30960345621634755
        ],
        [
          -0.5274837058051692,
          -0.5801515195234176,
          1.3874919419834852,
          -0.15997348857683877,
          0.7445585949291657,
          -0.337302058999927,
          -0.5534151268840346
        ],
        [
          -0.540730866125281,
          -0.5654625498200667,
          1.3992990124290825,
          -0.14129991283514118,
          0.10429366244107185,
          -0.15203110078841053,
          -0.9726477836300625
        ],
        [
          -0.45436087070217235,
          -0.6359548249106244,
          1.385345417527986,
          0.4977028498914896,
          0.6405934145189626,
          0.4105046269100665,
          0.416434750915738
        ],
        [
          -0.4407457123151494,
          -0.6424164125182388,
          1.3995360957247955,
          -0.7304951892848748,
          -0.023819804618944583,
          -0.09828050072652071,
          0.675389027536363
        ],
        [
          -0.44109729661935876,
          -0.6638680036712094,
          1.3770204206187093,
          -0.4530478388481016,
          -0.5020592843684913,
          -0.579497664049067,
          0.4548258876274931
        ],
        [
          -0.4039302774441574,
          -0.6607359705336482,
          1.3967385325583812,
          0.41075222661999,
          -0.3807344509858546,
          0.5168754300347157,
          0.6474285103280881
        ],
        [
          -0.38650115956444053,
          -0.6920771912247405,
          1.4307084271052763,
          0.13928313580248072,
          0.2179423513827624,
          -0.7351069304071886,
          0.6266730729990718
        ]
      ],
      "terrain_contacts": []
    },
    {
      "frame": 54,
      "physics_step": 360,
      "sim_time_s": 1.7999999999999836,
      "qpos": [
        -0.47026208543896036,
        -0.634893835896613,
        1.3846433579542374,
        -0.6798498638775167,
        -0.1972845586617988,
        0.625155012038144,
        0.32873116132020297,
        -0.2596414426814007,
        0.02620215462412343,
        0.3544627869771529,
        0.23270522505628718,
        0.04109771897610163,
        0.9599250467145486,
        0.23841778094639904,
        -2.7857398010296692,
        0.44296711449484416,
        -0.5353947034240778,
        0.3916669325653287,
        1.583580618501202,
        0.4201046864561327,
        -0.04873977635755531
      ],
      "qvel": [
        -0.4552009758177374,
        -0.5380131522305445,
        -0.21385719472983644,
        3.562664846011686,
        4.105747307966336,
        -1.7772388425460504,
        -1.021933017993249,
        -1.7936645767846529,
        0.9483951690380842,
        -0.13962203216179161,
        -3.265312991782281,
        3.4227888799011033,
        1.8116978545489726,
        -14.148751977995044,
        0.010628266786095072,
        0.08118218118669342,
        -0.0033165473444875006,
        -0.3336157162713467,
        3.363012411546781,
        2.8917200319681498
      ],
      "target_rad": [
        -0.45950445532798767,
        -0.3061610758304596,
        0.5141955018043518,
        -0.07122344523668289,
        -0.21570438146591187,
        1.338965654373169,
        0.4523470401763916,
        -4.231298923492432,
        1.2957175970077515,
        -3.3337600231170654,
        1.632249116897583,
        1.7955777645111084,
        0.6317229866981506,
        0.2163602113723755
      ],
      "policy_call": 90,
      "body_poses": [
        [
          -0.47026208543896036,
          -0.634893835896613,
          1.3846433579542374,
          -0.6798498638775167,
          -0.1972845586617988,
          0.625155012038144,
          0.32873116132020297
        ],
        [
          -0.46184462554371947,
          -0.6274140196881016,
          1.400149766900183,
          0.375289866743191,
          0.6750319798906361,
          0.3385141650834349,
          0.537491862340883
        ],
        [
          -0.4487138402022549,
          -0.6372692883137343,
          1.4127575484906534,
          0.7345109985375718,
          0.21008824281840505,
          -0.14346309431160723,
          0.6291064010382923
        ],
        [
          -0.4455229939593976,
          -0.606623075232308,
          1.4085292954208555,
          0.8485536512378987,
          -0.48195713024288506,
          0.17370735624028252,
          0.13228673390360995
        ],
        [
          -0.4403124107088125,
          -0.5909190770363656,
          1.3697190500304877,
          0.27031409299258036,
          0.5835681662823096,
          0.630072435754776,
          -0.4351864107868538
        ],
        [
          -0.39519546210483586,
          -0.5709727800563941,
          1.3722893001064345,
          0.5704986043543172,
          -0.26131506910055463,
          0.44064878947401864,
          0.6419302309642614
        ],
        [
          -0.49906384665946013,
          -0.6380623614230877,
          1.4177767649453,
          -0.34348005181137614,
          -0.8846768169337715,
          -0.23870220577894574,
          0.20588744629979244
        ],
        [
          -0.5272531004920554,
          -0.6055580903266957,
          1.392304459811022,
          0.8500102152247673,
          -0.3165568596467165,
          0.24527523549434135,
          0.34221988176806556
        ],
        [
          -0.5439356623244094,
          -0.6052272841549803,
          1.3755335121455965,
          -0.2977282880564047,
          0.8239974749025923,
          -0.07852810746366698,
          -0.4756252350152672
        ],
        [
          -0.5642037271834918,
          -0.5997826667130409,
          1.3850320219118155,
          -0.05767727361383396,
          0.27436853025506425,
          0.09709726027894042,
          -0.9549698234815975
        ],
        [
          -0.46885543386786716,
          -0.6521250435424499,
          1.3763755399577167,
          0.44560138327815557,
          0.6221005135412566,
          0.4280782228622614,
          0.4808111826729773
        ],
        [
          -0.45489090628190526,
          -0.6578098634584225,
          1.390559149929225,
          -0.7773045188985184,
          -0.06085993407412307,
          -0.115162591328557,
          0.6154927545332503
        ],
        [
          -0.4514217234529261,
          -0.6770077166787468,
          1.3663381424722671,
          -0.47070236608089144,
          -0.48227766312225584,
          -0.627999607296916,
          0.38918380163375965
        ],
        [
          -0.4154880530658068,
          -0.670206028035992,
          1.38737404626856,
          0.34073231658247816,
          -0.37920718917790197,
          0.47877620718248937,
          0.714756419731983
        ],
        [
          -0.3897082429652583,
          -0.6999264460430424,
          1.4172420583327374,
          0.08516842573111395,
          0.2825829499498321,
          -0.7396770427080966,
          0.6047901190882162
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.38577186965582233,
            -0.5892469991985455,
            1.336261353822691
          ],
          "distance_m": -0.0001279084024947283,
          "contact_frame": [
            -0.2371186443330554,
            -0.11447260266121598,
            0.964712792363417,
            -0.027323199992184265,
            0.9934264055479738,
            0.11116393076092503,
            -0.9710963861799925,
            3.469446951953614e-18,
            -0.2386876803443339
          ],
          "force_torque_contact_frame": [
            6.049281301069716,
            0.0,
            -6.049281301069716,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.5536083126856498,
            -0.5961351467483033,
            1.2929555930281402
          ],
          "distance_m": -0.002511167160629423,
          "contact_frame": [
            -0.23712621393579594,
            -0.1145011470480449,
            0.9647075442791754,
            -0.027330976151644253,
            0.9934231159605066,
            0.11119141341810643,
            -0.9710943190066933,
            0.0,
            -0.23869609044332213
          ],
          "force_torque_contact_frame": [
            15.001272224966057,
            -2.838405874957644,
            -1.6852516027756126,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 55,
      "physics_step": 367,
      "sim_time_s": 1.8349999999999829,
      "qpos": [
        -0.48245536427956276,
        -0.6556914469355696,
        1.3793207359368114,
        -0.6964898016512773,
        -0.31339607993070073,
        0.5595959488286947,
        0.3217720114216702,
        -0.2994760166402212,
        -0.04310665767263678,
        0.3568835366564311,
        0.21412362994056353,
        -0.07125521799058922,
        1.063321124562799,
        0.2858745432283548,
        -3.0460461505164584,
        0.44247903463078136,
        -0.5337230549440178,
        0.39082634896984797,
        1.575478548660051,
        0.5129173714273977,
        0.04459721479539376
      ],
      "qvel": [
        -0.269505448011234,
        -0.6036479231185431,
        -0.22911425961706267,
        3.9998484618924373,
        5.276682857742919,
        -7.676660879255123,
        -1.0292017159492213,
        -2.0446801948794544,
        0.5250970059613635,
        -1.4293630630775398,
        -2.76103434532685,
        1.8698258993170456,
        0.4973611638242284,
        0.18894388072886548,
        -0.03719954512062593,
        0.0268552896956908,
        -0.03221230324192122,
        -0.1625622041843793,
        2.0710598501532496,
        2.3918411807759274
      ],
      "target_rad": [
        -0.4753812551498413,
        -0.29535216093063354,
        0.5659245848655701,
        -0.10676396638154984,
        -0.2200297713279724,
        1.2607297897338867,
        0.43666723370552063,
        -4.00211238861084,
        1.1529945135116577,
        -3.1130099296569824,
        1.5111098289489746,
        1.6214396953582764,
        0.5575016736984253,
        0.20940786600112915
      ],
      "policy_call": 91,
      "body_poses": [
        [
          -0.48245536427956276,
          -0.6556914469355696,
          1.3793207359368114,
          -0.6964898016512773,
          -0.31339607993070073,
          0.5595959488286947,
          0.3217720114216702
        ],
        [
          -0.4748438817651256,
          -0.6496645331126577,
          1.3958431947037022,
          0.2642296015339428,
          0.6724356444578743,
          0.36941247299070207,
          0.5844206075547226
        ],
        [
          -0.4594775064319698,
          -0.6584018273264574,
          1.4066151118470005,
          0.6767042858328655,
          0.2918547980141412,
          -0.1457776134400687,
          0.6600310400513556
        ],
        [
          -0.4607995516856508,
          -0.6273292961719923,
          1.406617112351586,
          0.8616123308522464,
          -0.4279694402956367,
          0.15987681665083972,
          0.2211464514614515
        ],
        [
          -0.4609509607086296,
          -0.606016835368145,
          1.370206166549503,
          0.23290212640246893,
          0.5320975648645296,
          0.7128490324997787,
          -0.3930331256352003
        ],
        [
          -0.4191584964606685,
          -0.5797622785458604,
          1.372228090917109,
          0.5571516318817904,
          -0.24675419596372225,
          0.3844877177539794,
          0.6934433075328442
        ],
        [
          -0.5085212888552361,
          -0.6702935659063534,
          1.4116433187517472,
          -0.2822851611709697,
          -0.899218336015414,
          -0.2995761535251402,
          0.14824169519885777
        ],
        [
          -0.5396443689656603,
          -0.6372366443041773,
          1.390700687144719,
          0.8473730366414639,
          -0.2582891906031322,
          0.18694171934143064,
          0.42461561954345556
        ],
        [
          -0.5563147466443548,
          -0.6364274986798573,
          1.3739338812766255,
          -0.39541890274002534,
          0.7889550178359378,
          0.1305331437905965,
          -0.451835113243219
        ],
        [
          -0.578130698773028,
          -0.6391738703205777,
          1.380802773147261,
          0.009792282912106015,
          0.31417988449635237,
          0.31052969719341705,
          -0.8970877429405623
        ],
        [
          -0.47825538410440543,
          -0.6705417299951383,
          1.3679594305725948,
          0.3307123405939585,
          0.6246606710368008,
          0.44545966955318933,
          0.5495398772066343
        ],
        [
          -0.4628053000809646,
          -0.6759287945165126,
          1.3806391166693075,
          -0.821353176013426,
          -0.11255428658160099,
          -0.1896066662060334,
          0.5260796564732366
        ],
        [
          -0.4570121208535044,
          -0.6893553860667572,
          1.3531906975202668,
          -0.44739557255286544,
          -0.45325471129302985,
          -0.7137973974397456,
          0.2913599899763379
        ],
        [
          -0.4218795601229389,
          -0.6795664718655328,
          1.3744011010921982,
          0.25737124636885833,
          -0.3588577950632346,
          0.39531572827459255,
          0.8054232424282418
        ],
        [
          -0.3865220912947756,
          -0.7064219667196064,
          1.3960490061688628,
          0.013882799929138594,
          0.37067872147323455,
          -0.7599630539362097,
          0.5337234395874378
        ]
      ],
      "terrain_contacts": []
    },
    {
      "frame": 56,
      "physics_step": 373,
      "sim_time_s": 1.8649999999999822,
      "qpos": [
        -0.4896066453420752,
        -0.6727553700160807,
        1.3662946800899076,
        -0.673092318474237,
        -0.43201566161344646,
        0.4873248592137117,
        0.3504620957022442,
        -0.2851310345051525,
        -0.08467183706258537,
        0.3716304543267459,
        0.1511294550724729,
        -0.14280556705122602,
        1.0625292054114321,
        0.3057444525440257,
        -3.007782557156452,
        0.4409198774673809,
        -0.5334420538673859,
        0.3898727325716728,
        1.5603642257297754,
        0.5467938210277824,
        0.10951531624420968
      ],
      "qvel": [
        -0.23360804947305291,
        -0.5483914893520782,
        -0.5650453525117455,
        2.9354538268662216,
        4.100890370657817,
        -7.795812584483801,
        0.9082050991061897,
        -1.0473138750535256,
        0.38408386888664775,
        -2.57359293947043,
        -2.1873959275262065,
        -0.488936929578371,
        0.9082565086613723,
        1.2494918797489283,
        -0.05983583555625171,
        0.0024853790818670455,
        -0.03696941223962613,
        -0.9561581408684252,
        0.3587925045445858,
        1.9432406329719356
      ],
      "target_rad": [
        -0.45738929510116577,
        -0.17393799126148224,
        0.441716730594635,
        -0.2750532925128937,
        -0.3110329508781433,
        0.9305779933929443,
        0.45506131649017334,
        -3.1434993743896484,
        0.7636051774024963,
        -2.3442840576171875,
        1.1706714630126953,
        1.2300658226013184,
        0.3293318748474121,
        0.18463009595870972
      ],
      "policy_call": 93,
      "body_poses": [
        [
          -0.4896066453420752,
          -0.6727553700160807,
          1.3662946800899076,
          -0.673092318474237,
          -0.43201566161344646,
          0.4873248592137117,
          0.3504620957022442
        ],
        [
          -0.48224851033733146,
          -0.6702436409238387,
          1.3838103606710084,
          0.13107694532732758,
          0.6840055276256561,
          0.32865390289874885,
          0.6379199673083016
        ],
        [
          -0.46560392897608976,
          -0.6796122823626518,
          1.3917907409188386,
          0.604760643095374,
          0.3998846483903035,
          -0.20194064930238736,
          0.6584654939356831
        ],
        [
          -0.46954559656979655,
          -0.6498714283403348,
          1.3999879879325594,
          0.8932274035092082,
          -0.3116837995004809,
          0.13197427654704783,
          0.29594054314849405
        ],
        [
          -0.4742287773351841,
          -0.6200309018907181,
          1.3705327391042363,
          0.15039432908254027,
          0.48461992404773224,
          0.8065851031818015,
          -0.3032252402439236
        ],
        [
          -0.4362301249147176,
          -0.5889742967261529,
          1.3761532097145037,
          0.540928562214855,
          -0.17164384325997187,
          0.2917231420578745,
          0.7699560312374967
        ],
        [
          -0.5126942576460641,
          -0.6982248615655727,
          1.3937841475376602,
          -0.16980023869667948,
          -0.9066428460192261,
          -0.3735961248495127,
          0.09794163669316691
        ],
        [
          -0.5482291343644801,
          -0.6650654801219749,
          1.3820483919639888,
          0.8391790987425828,
          -0.15290568468339924,
          0.12265617331013763,
          0.5073004582828615
        ],
        [
          -0.5655816871923955,
          -0.6623935788209177,
          1.3661917895094333,
          -0.45440249209655537,
          0.7181239529172019,
          0.22447652434129983,
          -0.47689270642636433
        ],
        [
          -0.5864255136403418,
          -0.6695637966957145,
          1.3728837903041013,
          0.02613702190036754,
          0.271422183777559,
          0.43112018599805485,
          -0.8601059466511107
        ],
        [
          -0.4840238064515085,
          -0.6835813560556068,
          1.3515000886391793,
          0.2090659532147931,
          0.6380410198913843,
          0.4108291696666569,
          0.6167774943148928
        ],
        [
          -0.4676434164221396,
          -0.6900692748378824,
          1.362366998612136,
          -0.8288931192432283,
          -0.20162576759171472,
          -0.2693774488906827,
          0.44689935862946906
        ],
        [
          -0.4611851902007139,
          -0.6952372929001436,
          1.33238645653263,
          -0.39472730297293057,
          -0.45451953811448786,
          -0.7789759492801338,
          0.17549591506078788
        ],
        [
          -0.4266611798947107,
          -0.6864478878448583,
          1.3549882253920602,
          0.22731193709478542,
          -0.33268229215058015,
          0.27555571560891823,
          0.872766190533816
        ],
        [
          -0.3864571595613866,
          -0.7118503269752958,
          1.3683431059704136,
          -0.06387295636144781,
          0.41314780287396663,
          -0.8016859940557192,
          0.42723378302863124
        ]
      ],
      "terrain_contacts": []
    },
    {
      "frame": 57,
      "physics_step": 380,
      "sim_time_s": 1.8999999999999815,
      "qpos": [
        -0.4978236430042404,
        -0.6903894534418488,
        1.3417995799466047,
        -0.6286414905781038,
        -0.5431924492429299,
        0.40004656796017063,
        0.3869296872462699,
        -0.2603273139160491,
        -0.10082483975511891,
        0.3739354043778599,
        0.04389350325533903,
        -0.20498873126870867,
        1.018797622560728,
        0.33912715375893454,
        -2.9490301143951743,
        0.43817635083388884,
        -0.5319346489158173,
        0.38697359052240715,
        1.482870280866003,
        0.5146208003662952,
        0.15098871331525804
      ],
      "qvel": [
        -0.22490979402832179,
        -0.40205584313052106,
        -0.4760978309508569,
        4.314527685187803,
        2.8701030500802807,
        -5.2738989286840905,
        0.29889085200501914,
        -0.37807749946242025,
        -0.26025659905772813,
        -3.2123475038489513,
        -1.3619421310006619,
        -2.195247739583567,
        0.853107748132831,
        2.8190457956153603,
        -0.17092799735369407,
        0.13435880647038334,
        -0.284581971699295,
        -3.5164334247516806,
        -1.8914545817451556,
        0.5525821159743047
      ],
      "target_rad": [
        -0.2892894446849823,
        0.060977548360824585,
        0.10153710842132568,
        -0.15103566646575928,
        -0.049341440200805664,
        0.27338534593582153,
        0.18966896831989288,
        -1.7482681274414062,
        0.3152344822883606,
        -1.1895824670791626,
        0.5301811695098877,
        0.8110702037811279,
        0.06910520046949387,
        0.017686069011688232
      ],
      "policy_call": 95,
      "body_poses": [
        [
          -0.4978236430042404,
          -0.6903894534418488,
          1.3417995799466047,
          -0.6286414905781038,
          -0.5431924492429299,
          0.40004656796017063,
          0.3869296872462699
        ],
        [
          -0.490016211214592,
          -0.6921161689238252,
          1.3592154480700802,
          -0.013792766612168092,
          0.6898581804655756,
          0.2626792671557495,
          0.6744664951207187
        ],
        [
          -0.4721876637245573,
          -0.7016657924378314,
          1.3636253896951265,
          0.5108353588198504,
          0.5115969900005876,
          -0.2657352216804883,
          0.6377307801573917
        ],
        [
          -0.47810247693356184,
          -0.6762345414184261,
          1.380522621903112,
          0.9115231689158928,
          -0.1713253544538854,
          0.09294906155404664,
          0.3621237459860948
        ],
        [
          -0.4871923456687025,
          -0.6396364716316052,
          1.3616028846251553,
          0.059507927173588174,
          0.40815425646540543,
          0.8918622078587279,
          -0.1856090292147188
        ],
        [
          -0.4545075095282314,
          -0.6046529259676503,
          1.3737623673135158,
          0.4972631716297367,
          -0.07818622174623877,
          0.17854640811726064,
          0.8454214528968423
        ],
        [
          -0.5171141670034911,
          -0.7248411734399421,
          1.3612510152473045,
          -0.03756219783810921,
          -0.8898993767719521,
          -0.4520423692625621,
          0.04822734603886291
        ],
        [
          -0.55752254178293,
          -0.695416495671436,
          1.360088437979338,
          0.800853747346801,
          -0.028885029091488025,
          0.053874397507214615,
          0.5957318857910876
        ],
        [
          -0.5761696523853413,
          -0.6916244134542849,
          1.3460318606487855,
          -0.49917852832568305,
          0.6208298774699907,
          0.324974230682841,
          -0.5096889340483053
        ],
        [
          -0.5948695104577724,
          -0.7037718328899248,
          1.3518124755923338,
          0.05350428050734998,
          0.20336768263144256,
          0.5517532287210735,
          -0.8070608726882867
        ],
        [
          -0.4918318558340451,
          -0.6959820855387332,
          1.3244770237629468,
          0.0776479663896166,
          0.6479432906939231,
          0.35365830768340034,
          0.670123933885965
        ],
        [
          -0.47444542364207387,
          -0.7034885877261097,
          1.3328355164826242,
          -0.8090688905026433,
          -0.2971387883977364,
          -0.3527069111530039,
          0.364299198016211
        ],
        [
          -0.46885454756234696,
          -0.6993364259069164,
          1.3025246000186113,
          -0.32029774186210674,
          -0.431151407426437,
          -0.8412610031768868,
          0.061625846574763
        ],
        [
          -0.43412496795472566,
          -0.6907036475398513,
          1.3248703450800996,
          0.2028725529290922,
          -0.29407030431105524,
          0.14110650066678138,
          0.9232845384062337
        ],
        [
          -0.3902163114341471,
          -0.7128289044355824,
          1.3296140661781144,
          -0.13106245702028235,
          0.44789715701655425,
          -0.8324660643704747,
          0.2986821400215079
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.4678424846395054,
            -0.6935959883977242,
            1.3033815440019094
          ],
          "distance_m": -0.0007555988382741344,
          "contact_frame": [
            -0.24227686303647716,
            -0.11955300415476215,
            0.9628130664021836,
            -0.029174169220429983,
            0.9928278195123118,
            0.11593872801064489,
            -0.9697684205455971,
            -3.469446951953614e-18,
            -0.24402706922081044
          ],
          "force_torque_contact_frame": [
            23.259478021959154,
            8.183238324205048,
            -6.1248648407809805,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 58,
      "physics_step": 387,
      "sim_time_s": 1.9349999999999807,
      "qpos": [
        -0.50319739465734,
        -0.7034258758568079,
        1.3383960211275427,
        -0.5304692453200192,
        -0.6563389138725952,
        0.36114649475030564,
        0.3967301592212511,
        -0.26422108598772026,
        -0.09227558572188618,
        0.3476958488843674,
        -0.05108034184386964,
        -0.20350370300209197,
        0.8864535282431665,
        0.319621490597913,
        -2.8134263041876566,
        0.43198012134229663,
        -0.5283177589807287,
        0.37922889942462035,
        1.2992739501574813,
        0.4161784928140342,
        0.14523307305009128
      ],
      "qvel": [
        -0.12251996446471783,
        -0.3689815625107802,
        -0.04808824590099377,
        6.213538950332352,
        0.5816751569751251,
        -6.966048854789133,
        -0.04724162941237862,
        0.7859522957606279,
        -1.2279799689257527,
        -2.009275087926144,
        0.9546380355643316,
        -5.109060394205157,
        -1.2530071272192131,
        6.202809518740328,
        -0.5130098210259602,
        0.09287562030096726,
        -0.37349118114945073,
        -6.058474653410527,
        -3.24076149882415,
        -0.5152570677125357
      ],
      "target_rad": [
        -0.26613444089889526,
        0.035032935440540314,
        -0.0485861599445343,
        0.004373184405267239,
        0.05408427119255066,
        0.058318912982940674,
        0.13439153134822845,
        -1.4140989780426025,
        0.2825525403022766,
        -0.8771618604660034,
        0.33649128675460815,
        0.6472070813179016,
        0.053948815912008286,
        0.03344011306762695
      ],
      "policy_call": 96,
      "body_poses": [
        [
          -0.50319739465734,
          -0.7034258758568079,
          1.3383960211275427,
          -0.5304692453200192,
          -0.6563389138725952,
          0.36114649475030564,
          0.3967301592212511
        ],
        [
          -0.4970619357214177,
          -0.7098329742110157,
          1.3553829347473008,
          -0.11214024724844598,
          0.6374587971624567,
          0.18010752728940488,
          0.7406970537817388
        ],
        [
          -0.47923296037436725,
          -0.7197252594997288,
          1.3589564945748365,
          0.40109101095895994,
          0.5477648924641344,
          -0.37152832312096207,
          0.6332821872045676
        ],
        [
          -0.48850824545271526,
          -0.7003661022516585,
          1.381460763444539,
          0.9267852861964223,
          -0.06151199386627552,
          -0.017602690605694384,
          0.3701019497163601
        ],
        [
          -0.4967021361317029,
          -0.6599249976415394,
          1.3726642813144938,
          0.055131385731078245,
          0.37008743029826763,
          0.9267910842413516,
          -0.032467066595791794
        ],
        [
          -0.4697724470006788,
          -0.6268929099479255,
          1.3976377277307936,
          0.46231331058436076,
          -0.058144118670704424,
          0.026699093055224894,
          0.8844053497975708
        ],
        [
          -0.5222418445438255,
          -0.7425380014590334,
          1.3451008120748345,
          0.06089982020843676,
          -0.8440136505500418,
          -0.5282861652228213,
          -0.0696124788952252
        ],
        [
          -0.5672538567732034,
          -0.7208175075057588,
          1.3465633090793094,
          0.7491918376052762,
          0.04904627033787293,
          -0.07841650773467525,
          0.6558634805706685
        ],
        [
          -0.584997152446328,
          -0.7157391813827704,
          1.3317623614726644,
          -0.4901606606255732,
          0.5732406275313812,
          0.4313706541274836,
          -0.4950323913444019
        ],
        [
          -0.6018236169387243,
          -0.7313227924606625,
          1.3339259599703353,
          0.12128471659110494,
          0.19366852091041384,
          0.624628489701967,
          -0.7467407658501226
        ],
        [
          -0.49520124122453113,
          -0.7036606829740732,
          1.3209817627196558,
          -0.013640166027444223,
          0.6081954155192324,
          0.2624705240736533,
          0.7490136890635807
        ],
        [
          -0.47829702612906855,
          -0.7127589000307686,
          1.3287257899920506,
          -0.7816480627670701,
          -0.420747328406195,
          -0.36697895931102653,
          0.27807271537231404
        ],
        [
          -0.47018137720911407,
          -0.6999622218742159,
          1.30156642198089,
          -0.30417173605016995,
          -0.37966651052382355,
          -0.8716077589741615,
          -0.06027279876469169
        ],
        [
          -0.4385318335360995,
          -0.689622923491256,
          1.3274779286651426,
          0.19141003797754172,
          -0.31006177678431607,
          0.003866504888946659,
          0.9312405393230756
        ],
        [
          -0.39270892217704106,
          -0.7077684960410474,
          1.3307944014028765,
          -0.2320474656427229,
          0.46416565700538015,
          -0.8296969251323404,
          0.2056872114923351
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.5864287426928848,
            -0.6610107239124049,
            1.2783222779310914
          ],
          "distance_m": -0.00032730472075951646,
          "contact_frame": [
            -0.23666860053101213,
            -0.11447971531883822,
            0.9648224542905343,
            -0.027273058392523735,
            0.9934255859300773,
            0.11118356670569725,
            -0.9712075750366705,
            0.0,
            -0.2382348551144223
          ],
          "force_torque_contact_frame": [
            11.069066878553315,
            3.9527438270453645,
            -7.116323051507949,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.4767832794841277,
            -0.6955106041575415,
            1.3000742263178193
          ],
          "distance_m": -0.0024583638669518878,
          "contact_frame": [
            -0.2371257251406671,
            -0.1144775694826977,
            0.96471046255436,
            -0.027325217211497336,
            0.9934258332081636,
            0.11116854959479489,
            -0.9710946004282268,
            0.0,
            -0.23869494552491619
          ],
          "force_torque_contact_frame": [
            3.16598972567936,
            -3.16598972567936,
            0.0,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 59,
      "physics_step": 393,
      "sim_time_s": 1.96499999999998,
      "qpos": [
        -0.5059485830904179,
        -0.7152183680957849,
        1.3373750194472318,
        -0.39890673761111406,
        -0.7478734153601769,
        0.283917675401616,
        0.44827393732014476,
        -0.27103206391672435,
        -0.06256844255886423,
        0.2993037069102369,
        -0.08783534949063379,
        -0.14865213781537887,
        0.7233332928520956,
        0.24955839851179523,
        -2.5938357113224897,
        0.4274939963028564,
        -0.5093551763350065,
        0.34235237154487447,
        1.0984212075331237,
        0.33283565561861,
        0.10957310759469398
      ],
      "qvel": [
        -0.08514532526477013,
        -0.3870530630233485,
        -0.08095438773761673,
        5.351378828964087,
        -0.5464266736447734,
        -12.161788474918975,
        -0.14303591410329464,
        0.962677153488407,
        -2.3012789095250734,
        -0.5588222778266941,
        2.3403940711342903,
        -5.979422606088328,
        -2.633550060558243,
        9.219036562584153,
        -0.8319854130928315,
        1.4545151276638433,
        -1.9630488622808295,
        -6.966193078072912,
        -2.2301162059902917,
        -1.7548359996640386
      ],
      "target_rad": [
        -0.24061302840709686,
        -0.0857098400592804,
        -0.3287741243839264,
        0.1358557641506195,
        0.1780986487865448,
        -0.03430333733558655,
        0.05723878741264343,
        -1.1070687770843506,
        -0.05633886903524399,
        0.016174256801605225,
        -0.010133519768714905,
        0.2866607904434204,
        0.3834504187107086,
        -0.250946581363678
      ],
      "policy_call": 98,
      "body_poses": [
        [
          -0.5059485830904179,
          -0.7152183680957849,
          1.3373750194472318,
          -0.39890673761111406,
          -0.7478734153601769,
          0.283917675401616,
          0.44827393732014476
        ],
        [
          -0.500015224549392,
          -0.7273108731910009,
          1.3510064748701063,
          -0.22649013316667693,
          0.5982710951774379,
          0.046344415707139194,
          0.7672197282305077
        ],
        [
          -0.4821531943443315,
          -0.7377706976254521,
          1.3512063492155466,
          0.2807543536777171,
          0.5988529810532799,
          -0.4912446000479584,
          0.5667723025151536
        ],
        [
          -0.4927360855850153,
          -0.7280011593656472,
          1.378770973921464,
          0.9286401089833196,
          0.1066299723224662,
          -0.10629066694092115,
          0.3390573566687685
        ],
        [
          -0.4991316991315459,
          -0.6868277605902668,
          1.385392774662723,
          0.006370321801225502,
          0.3771409395499856,
          0.913836448626951,
          0.15042298985322877
        ],
        [
          -0.47351470923602956,
          -0.665699293267672,
          1.4219626761842072,
          0.4439590376185259,
          0.004817324387384698,
          -0.15048073053378774,
          0.8833078263213772
        ],
        [
          -0.524644232070106,
          -0.7541980047139202,
          1.3291007037295175,
          0.19600993812573436,
          -0.7711666014655696,
          -0.575244914170059,
          -0.1896719949319638
        ],
        [
          -0.5727229582162736,
          -0.7411306654261774,
          1.3333055504687972,
          0.6935784321904203,
          0.17088024257202272,
          -0.2125918723847452,
          0.6667485259786884
        ],
        [
          -0.5903981440817125,
          -0.7326017534124815,
          1.3200946666189248,
          -0.5016250839042115,
          0.5240012476742528,
          0.49864732953058355,
          -0.47449531966705094
        ],
        [
          -0.6058006185334482,
          -0.749715928053789,
          1.3193674753714135,
          0.1477105093527471,
          0.18424389304029726,
          0.6837777832531687,
          -0.6904228678378853
        ],
        [
          -0.49766917541100375,
          -0.7090923814111908,
          1.321214150175493,
          -0.13367712405173818,
          0.588519138128181,
          0.11713809051248116,
          0.7887042020385141
        ],
        [
          -0.480702253878503,
          -0.7202734102706416,
          1.325164867496954,
          -0.6859515235432267,
          -0.5549170403045336,
          -0.42231661109655383,
          0.20781305473984285
        ],
        [
          -0.47323081271339956,
          -0.6983522236636481,
          1.304406998033597,
          -0.2386748441343272,
          -0.34098264995984606,
          -0.8881095430736752,
          -0.19500407868884073
        ],
        [
          -0.4427424071171344,
          -0.6897224318255055,
          1.332263499993426,
          0.1891557979965111,
          -0.26767999694766675,
          -0.15277333262688914,
          0.932323877285396
        ],
        [
          -0.3952866912962647,
          -0.7031976816068877,
          1.3297390833760239,
          -0.3013085722882419,
          0.4812863969219971,
          -0.8205919401322517,
          0.06484918036066677
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.5952018374253667,
            -0.6713591781190629,
            1.2749784207437265
          ],
          "distance_m": -0.00024923543262464064,
          "contact_frame": [
            -0.23681682806251036,
            -0.11447742651590623,
            0.9647863539482234,
            -0.02728958687848533,
            0.9934258496829519,
            0.11117715426159418,
            -0.9711709779407602,
            0.0,
            -0.23838400031375212
          ],
          "force_torque_contact_frame": [
            9.453433697154068,
            0.3838837072135196,
            -9.06954998994055,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 60,
      "physics_step": 400,
      "sim_time_s": 1.9999999999999793,
      "qpos": [
        -0.5087340937734345,
        -0.7324823732392544,
        1.3412334993365906,
        -0.2113092889246314,
        -0.8109831918476472,
        0.18197414630432163,
        0.5143345769356586,
        -0.27656975610822343,
        -0.04309342010753857,
        0.1905692170923825,
        -0.07733561557780806,
        -0.05226875757485769,
        0.5335128744020933,
        0.17128293491917118,
        -2.3030942184447074,
        0.4042939536308247,
        -0.4528745553292337,
        0.26998665708435365,
        0.8638912458583293,
        0.2826769651422229,
        0.02865779870336794
      ],
      "qvel": [
        -0.05301172697378233,
        -0.5217537620652248,
        0.25265763117147694,
        5.5100991043010445,
        -3.05199260722837,
        -10.76108010044828,
        0.17968251396875307,
        0.624725606913128,
        -3.413901908098057,
        0.9525765699653235,
        2.9139742087102407,
        -5.1501117988349145,
        -1.0800245092739393,
        8.476838150429627,
        -0.6137079741736864,
        2.298271740217547,
        -2.3365017486598045,
        -6.4277373833097435,
        -0.6888155069821934,
        -2.5728845158661278
      ],
      "target_rad": [
        -0.3214961886405945,
        -0.08124507963657379,
        -0.3778030276298523,
        0.19861096143722534,
        0.2540013790130615,
        -0.06634119153022766,
        0.1957583874464035,
        -0.9706444144248962,
        -0.30183595418930054,
        0.18216954171657562,
        -0.07972089946269989,
        0.3216239809989929,
        0.4348151683807373,
        -0.368356853723526
      ],
      "policy_call": 100,
      "body_poses": [
        [
          -0.5087340937734345,
          -0.7324823732392544,
          1.3412334993365906,
          -0.2113092889246314,
          -0.8109831918476472,
          0.18197414630432163,
          0.5143345769356586
        ],
        [
          -0.5031115548033707,
          -0.7495579689586768,
          1.3478713518776582,
          -0.3437462926120688,
          0.5377456332758269,
          -0.14149666607449135,
          0.7567343085244929
        ],
        [
          -0.48564914853637337,
          -0.7595536187410881,
          1.343008086226502,
          0.14651933496407954,
          0.6368484658843722,
          -0.6215685650578042,
          0.4319822159700422
        ],
        [
          -0.4961062640889849,
          -0.7627939450932321,
          1.3721182050763268,
          0.8999866188572271,
          0.32556297193285477,
          -0.16682244150457648,
          0.23707195151395732
        ],
        [
          -0.49637317262724295,
          -0.7289639063011988,
          1.397326499734469,
          -0.09870302075410287,
          0.43731904742127603,
          0.821541888815931,
          0.3522480509205349
        ],
        [
          -0.46706720617353015,
          -0.7307440084299754,
          1.437050441716918,
          0.4586377531262548,
          0.10787405139877093,
          -0.3495485155427154,
          0.8098335852037754
        ],
        [
          -0.5288805647899824,
          -0.7630957732425188,
          1.3168543461915463,
          0.3384790066293552,
          -0.66550156867833,
          -0.5675134705348388,
          -0.34708512632982436
        ],
        [
          -0.5783967781562785,
          -0.756759730959248,
          1.319682628717752,
          0.6145192165692436,
          0.307549927712344,
          -0.3747654797500928,
          0.6223584253618959
        ],
        [
          -0.5958763405719621,
          -0.7438388950551457,
          1.3103445944007512,
          -0.5242661726425035,
          0.4852790261761779,
          0.5556504116592074,
          -0.4253256011566138
        ],
        [
          -0.6106804964675729,
          -0.7609506166195396,
          1.3060218691815044,
          0.1510168348694015,
          0.19484383093697033,
          0.7395559496458198,
          -0.6263280246606427
        ],
        [
          -0.5003889537836304,
          -0.7200016033443082,
          1.329323880477031,
          -0.2757899750711034,
          0.5481147390902,
          -0.0936050501281746,
          0.7840588096774785
        ],
        [
          -0.4835570503609111,
          -0.7317581596730917,
          1.3266837269859637,
          -0.5096985794892541,
          -0.6933629023586817,
          -0.4937654301850559,
          0.1251037315732385
        ],
        [
          -0.4776321948679082,
          -0.7024669023818922,
          1.3180716230799607,
          -0.14965551805200947,
          -0.29736221441295474,
          -0.8660193636548605,
          -0.3730809578775621
        ],
        [
          -0.4480010695725363,
          -0.698992887841594,
          1.3479032928474037,
          0.17240227607155748,
          -0.20071851178801736,
          -0.3482789890875678,
          0.8992726394098133
        ],
        [
          -0.3993736213695044,
          -0.7034012150707969,
          1.3404241262961285,
          -0.38666496359242586,
          0.5030642948552827,
          -0.7650752512187953,
          -0.10989258912375598
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.5994876429943499,
            -0.7364268721777122,
            1.2656825788913768
          ],
          "distance_m": -0.0012554334912820977,
          "contact_frame": [
            -0.2372056241356856,
            -0.11138221215837191,
            0.9650531045974141,
            -0.02658591421425052,
            0.9937776425411811,
            0.10816277710323957,
            -0.9710956086008177,
            0.0,
            -0.23869084388850706
          ],
          "force_torque_contact_frame": [
            8.19916293370082,
            2.3423558471391117,
            -5.856807086561708,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 61,
      "physics_step": 407,
      "sim_time_s": 2.034999999999979,
      "qpos": [
        -0.508401863106314,
        -0.7507256168212993,
        1.34897695102647,
        -0.03090536926638953,
        -0.8130296921495025,
        0.0720972650166448,
        0.5769138256368219,
        -0.27708388138157974,
        -0.023264787522238522,
        0.05541137136984356,
        -0.027948414837083945,
        0.04828448861021346,
        0.35593575705666697,
        0.17347142369518842,
        -1.960084017355872,
        0.33562404328085665,
        -0.32316405098606105,
        0.15985833098815685,
        0.6697203690340793,
        0.28284450029482183,
        -0.07577211659618954
      ],
      "qvel": [
        0.02869125519145641,
        -0.5307076026766138,
        0.12434744731120227,
        3.8743324116606543,
        -3.3195203236881947,
        -11.452081825867078,
        -0.16039875225731737,
        0.48814632038618094,
        -4.016045002277077,
        1.6043791803620722,
        2.6904838485367537,
        -5.080177107611493,
        0.47360154448519676,
        10.600857853439301,
        -3.3494168126081667,
        4.329323028288804,
        -3.490152112522581,
        -4.898758460064957,
        0.33776161425649887,
        -3.075703153631169
      ],
      "target_rad": [
        -0.39408424496650696,
        -0.08056093752384186,
        -0.33259421586990356,
        0.17810936272144318,
        0.2386491596698761,
        0.003142118453979492,
        0.2006371021270752,
        -0.828100323677063,
        -0.32028859853744507,
        0.18757717311382294,
        -0.08457432687282562,
        0.2771545648574829,
        0.4219302237033844,
        -0.36704546213150024
      ],
      "policy_call": 101,
      "body_poses": [
        [
          -0.508401863106314,
          -0.7507256168212993,
          1.34897695102647,
          -0.03090536926638953,
          -0.8130296921495025,
          0.0720972650166448,
          0.5769138256368219
        ],
        [
          -0.5031729932965711,
          -0.7690922889949191,
          1.347372496670765,
          -0.4324649604223525,
          0.4789931679131452,
          -0.3230328917508781,
          0.6922350424144157
        ],
        [
          -0.4866180706122457,
          -0.7763885478400568,
          1.3373127182546785,
          0.035934931535396855,
          0.652805359643828,
          -0.7103573828340551,
          0.26066497994358623
        ],
        [
          -0.49559732629428793,
          -0.7913873733408947,
          1.3630354358597825,
          0.8272472421762608,
          0.5291668449266053,
          -0.15585990611440953,
          0.10654642278462761
        ],
        [
          -0.4867935520038929,
          -0.7725749024386519,
          1.3997585264324188,
          -0.2571733897378661,
          0.5003359245163953,
          0.6673485614989767,
          0.48802838822583466
        ],
        [
          -0.4519762163979443,
          -0.795236175710606,
          1.426483418106597,
          0.48408039473016024,
          0.24531749080434917,
          -0.49409431165419065,
          0.6792321483368715
        ],
        [
          -0.5317211008414506,
          -0.7679546518681823,
          1.3158593248274886,
          0.4492267931137449,
          -0.557314707991214,
          -0.5060841907190855,
          -0.48111786134960416
        ],
        [
          -0.5815390205347909,
          -0.7637472438428875,
          1.3165467803799291,
          0.5113791044289422,
          0.4058602701379272,
          -0.5182244198071382,
          0.5524602278830367
        ],
        [
          -0.5987817224607753,
          -0.7483016641573479,
          1.31166771427264,
          -0.5251805303049614,
          0.48365659630136304,
          0.5872190532066927,
          -0.38136005427130826
        ],
        [
          -0.6134228096022143,
          -0.7647675449018071,
          1.3049466028596344,
          0.14541430805349523,
          0.20269827119680145,
          0.7634540711843325,
          -0.5957398518306619
        ],
        [
          -0.5003178695310132,
          -0.7345230100179851,
          1.3427020342420262,
          -0.4164024364310314,
          0.4863080846010205,
          -0.31191208843533436,
          0.7020144634363994
        ],
        [
          -0.4838950025957979,
          -0.7425022385516752,
          1.3329490165738704,
          -0.2789101189406473,
          -0.76563086304727,
          -0.5790302671153932,
          0.027248428693832243
        ],
        [
          -0.48089942997057056,
          -0.712231224698148,
          1.3394253013828146,
          -0.036314530755142765,
          -0.24053663599997574,
          -0.790254240982448,
          -0.5624247649304784
        ],
        [
          -0.4506751026143542,
          -0.7159764360463808,
          1.3686222928756266,
          0.12674787677910948,
          -0.1152264919133171,
          -0.5516912333111886,
          0.8162687145670338
        ],
        [
          -0.4026128081950181,
          -0.7073493106908219,
          1.3611665190560605,
          -0.48293351331894546,
          0.5124718773234573,
          -0.6478674352068492,
          -0.2905435992488735
        ]
      ],
      "terrain_contacts": []
    },
    {
      "frame": 62,
      "physics_step": 413,
      "sim_time_s": 2.064999999999978,
      "qpos": [
        -0.5065868828410239,
        -0.7668021741086539,
        1.349373100328317,
        0.11445710898372924,
        -0.7853948489992022,
        -0.0465020216435703,
        0.606541064851893,
        -0.28899268676028933,
        -0.006831794255124043,
        -0.056012193021239526,
        0.019075084146296915,
        0.11902833672423697,
        0.2188896410483892,
        0.1994773144666976,
        -1.6332894379211564,
        0.22267531972688978,
        -0.1945076245092694,
        0.05301067147329487,
        0.5456182526985482,
        0.2967179101151845,
        -0.16205501103026285
      ],
      "qvel": [
        0.09525569260870448,
        -0.5369047042280332,
        -0.04303687537676813,
        2.6684599458108416,
        -3.212217011838205,
        -12.50512690240929,
        -0.5576657687291218,
        0.6721642847019477,
        -3.36025306447667,
        1.4461412139052618,
        2.13310161134578,
        -4.0231804056400895,
        1.1948281280512065,
        10.882173578348858,
        -3.5943319090411334,
        4.06964242917107,
        -3.5675377652348095,
        -3.5817465023148713,
        0.430372143548672,
        -2.656071337770475
      ],
      "target_rad": [
        -0.4674100875854492,
        0.0005801022052764893,
        -0.22874341905117035,
        0.0909026637673378,
        0.27850186824798584,
        0.08537447452545166,
        0.20595665276050568,
        -0.6474277973175049,
        -0.2889290452003479,
        0.15343645215034485,
        -0.12130124866962433,
        0.3098115026950836,
        0.33046603202819824,
        -0.34601134061813354
      ],
      "policy_call": 103,
      "body_poses": [
        [
          -0.5065868828410239,
          -0.7668021741086539,
          1.349373100328317,
          0.11445710898372924,
          -0.7853948489992022,
          -0.0465020216435703,
          0.606541064851893
        ],
        [
          -0.5013620868048017,
          -0.7831135154958289,
          1.340777075169506,
          -0.5068761597877401,
          0.4177411288532409,
          -0.45440603254468503,
          0.6017342149905155
        ],
        [
          -0.48551870783901857,
          -0.785863258083824,
          1.3277414985176526,
          -0.06267176070652304,
          0.6563503408424699,
          -0.7445662539591291,
          0.10439144577592233
        ],
        [
          -0.49304421551054517,
          -0.8092713000972358,
          1.346785665692516,
          0.7221392366968689,
          0.6829061722227615,
          -0.10855909460874257,
          0.019209522134855748
        ],
        [
          -0.47735409853841015,
          -0.8055803750961456,
          1.3857753846764616,
          -0.41144385082651025,
          0.5020233864090616,
          0.51944836357059,
          0.5557516304063049
        ],
        [
          -0.4396358668568838,
          -0.8364473258673385,
          1.3938107035193856,
          0.47023829034136116,
          0.3776598373526632,
          -0.5792399885479022,
          0.5483885786690125
        ],
        [
          -0.5320184911693443,
          -0.7713503145600754,
          1.3137367231482633,
          0.5285082271306467,
          -0.4454577722501116,
          -0.42833160470522086,
          -0.5820467879885937
        ],
        [
          -0.5818605070136685,
          -0.7676292055334883,
          1.3123486294243434,
          0.40059352206086557,
          0.4679252948639203,
          -0.6317794931612859,
          0.47055862602894943
        ],
        [
          -0.5990061119029891,
          -0.7513428448416409,
          1.311666957946026,
          -0.52566703087949,
          0.49897945821192774,
          0.6007170287305537,
          -0.3373910554860745
        ],
        [
          -0.613951800358078,
          -0.7666940594692891,
          1.3032037076212806,
          0.11844928432741847,
          0.20204723170209327,
          0.7788471268362412,
          -0.5818451995357311
        ],
        [
          -0.49905905261008504,
          -0.7491819162427985,
          1.3490440338381895,
          -0.5347275017223636,
          0.39581573966278966,
          -0.4736268503619491,
          0.5771256412196379
        ],
        [
          -0.4830191470581743,
          -0.7503856876774344,
          1.3360143613857087,
          -0.0705557973670488,
          -0.7601715334563548,
          -0.6380713134508276,
          -0.10013050549982055
        ],
        [
          -0.48335923465493746,
          -0.7261597339504325,
          1.3555140410354798,
          0.05137464558664903,
          -0.1609907899789111,
          -0.6655713605076249,
          -0.7269507379491691
        ],
        [
          -0.4529390537897326,
          -0.7370587673886488,
          1.382640127200846,
          0.06084066333294262,
          -0.05664415760620432,
          -0.7265591297500009,
          0.6820569507535366
        ],
        [
          -0.4072118843271989,
          -0.7184119073752187,
          1.3837892941096386,
          -0.590332205638233,
          0.4803428779980197,
          -0.48803072643285905,
          -0.42732261419247886
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.6029135915206233,
            -0.740060786129133,
            1.2650334898142446
          ],
          "distance_m": -5.110370205477799e-05,
          "contact_frame": [
            -0.2367055333607346,
            -0.11229170295734536,
            0.9650704968671198,
            -0.02674924879639639,
            0.9936752857180957,
            0.10905917770590959,
            -0.9712131425002641,
            -3.469446951953614e-18,
            -0.23821215719345926
          ],
          "force_torque_contact_frame": [
            3.15446725042778,
            0.1140424631560154,
            -1.9004939528076374,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 63,
      "physics_step": 420,
      "sim_time_s": 2.0999999999999774,
      "qpos": [
        -0.5025741308217219,
        -0.7856610498468083,
        1.3424027814124029,
        0.26893758166070303,
        -0.7249903704569384,
        -0.19978556323474592,
        0.6017867301944932,
        -0.310372359907743,
        0.025631033796336803,
        -0.15016252062214766,
        0.05160177742057615,
        0.18585005514228695,
        0.10986475754349448,
        0.23857286294644514,
        -1.273900355548615,
        0.10011374201555237,
        -0.0737422301819854,
        -0.06240334006589894,
        0.44951404780905696,
        0.2989355095822345,
        -0.2408606196761671
      ],
      "qvel": [
        0.12699373182786652,
        -0.539365876812497,
        -0.3115920452106028,
        1.6007504299718291,
        -2.010961583444218,
        -12.477973251339547,
        -0.5509265779203104,
        1.1288247077277083,
        -2.169012347033898,
        0.40761462652872676,
        1.8147882366715566,
        -2.4045356146653654,
        1.0459710820873267,
        9.580302658037114,
        -3.183368557873231,
        2.915063413414811,
        -3.017765798847735,
        -2.156434870817325,
        -0.29890531450722496,
        -2.0090852388454894
      ],
      "target_rad": [
        -0.3664919137954712,
        0.13376598060131073,
        -0.19065749645233154,
        -0.1691262573003769,
        0.4096091687679291,
        0.14714999496936798,
        0.32681411504745483,
        -0.6912295818328857,
        -0.05736510455608368,
        0.048422958701848984,
        -0.12417399883270264,
        0.3809967637062073,
        0.0003975336439907551,
        -0.39197298884391785
      ],
      "policy_call": 105,
      "body_poses": [
        [
          -0.5025741308217219,
          -0.7856610498468083,
          1.3424027814124029,
          0.26893758166070303,
          -0.7249903704569384,
          -0.19978556323474592,
          0.6017867301944932
        ],
        [
          -0.4970936910375734,
          -0.7962998509855224,
          1.3274351266160356,
          -0.5886557254193051,
          0.3276958359145811,
          -0.5719179404354535,
          0.46798477054641957
        ],
        [
          -0.48193700129855577,
          -0.7924395844976861,
          1.3138751450969461,
          -0.18356954435523684,
          0.6384819172882238,
          -0.7435655703629666,
          -0.07585055208738438
        ],
        [
          -0.48812762560256295,
          -0.8219044611485922,
          1.3216691950501815,
          0.5598311604986786,
          0.8264028019140581,
          -0.04453771281160909,
          -0.04079059770103519
        ],
        [
          -0.46681859980732143,
          -0.8340513681594222,
          1.3559967197808984,
          -0.5685657618717057,
          0.4340306831890397,
          0.3559384317217802,
          0.6013802235700323
        ],
        [
          -0.4281693970414446,
          -0.8622179205933522,
          1.3436320746364225,
          0.3991300830989177,
          0.5103098451998735,
          -0.6515435985150774,
          0.3946770551876002
        ],
        [
          -0.5297486741347224,
          -0.7761114454158353,
          1.3091198591670261,
          0.6045300321946329,
          -0.3015345526972413,
          -0.30638449003268053,
          -0.670633206732149
        ],
        [
          -0.5795290165559176,
          -0.7720442469716182,
          1.3068013671476508,
          0.2629308894994067,
          0.5204262647912586,
          -0.7378088917277347,
          0.34009100186562113
        ],
        [
          -0.5967344641714531,
          -0.7565561237865039,
          1.3116770824963755,
          -0.5555240097422619,
          0.5044455074136837,
          0.5996838788084776,
          -0.2780414540086603
        ],
        [
          -0.6127209198681866,
          -0.769624182200315,
          1.3014634110923406,
          0.05887162363281728,
          0.20076346119212626,
          0.8078218016581372,
          -0.5510463695069544
        ],
        [
          -0.49590365895009825,
          -0.7691567695729795,
          1.3494995086618318,
          -0.6397809515393209,
          0.25789614503242425,
          -0.6066005851011865,
          0.3952285953467364
        ],
        [
          -0.48047132062988934,
          -0.7618751210946288,
          1.3377811244127835,
          0.14096569497573275,
          -0.6882532478067651,
          -0.6565442903084733,
          -0.27456462734079806
        ],
        [
          -0.48436065926643734,
          -0.751476399387895,
          1.3668326240614446,
          0.11558664176515973,
          -0.05388902790778482,
          -0.46430136119261206,
          -0.8764473440608364
        ],
        [
          -0.45398561809498517,
          -0.770820947914854,
          1.3888132109628608,
          -0.01585178036922138,
          -0.016215483317289184,
          -0.8838875928344215,
          0.4671493362868927
        ],
        [
          -0.41236349191117183,
          -0.7499183028207084,
          1.405265506851487,
          -0.7055690174994603,
          0.37739800503511495,
          -0.2757726003969099,
          -0.5326279942048554
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.40760442243304845,
            -0.8548405940336734,
            1.3139726119937765
          ],
          "distance_m": -4.3193895705193146e-05,
          "contact_frame": [
            -0.23817449142503602,
            0.05723406472185665,
            0.9695345138105398,
            0.013654076190929898,
            0.9983607874087476,
            -0.05558151102622128,
            -0.9711263964272611,
            0.0,
            -0.2385655510802058
          ],
          "force_torque_contact_frame": [
            22.681334294532334,
            9.437942637111922,
            9.516902420673066,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 64,
      "physics_step": 427,
      "sim_time_s": 2.1349999999999767,
      "qpos": [
        -0.5065905678724141,
        -0.7977357507292212,
        1.3425441136703267,
        0.35869482676666664,
        -0.7017506580348022,
        -0.31684966173638474,
        0.5277218273447595,
        -0.3523752053264165,
        0.004857535965189572,
        -0.11053882111337734,
        0.01943613085324213,
        0.2264976989084317,
        0.09621145774739769,
        0.26601749451196083,
        -1.0069609627069311,
        0.03891521624113217,
        -0.0019971056557813362,
        -0.0975383300181229,
        0.4273638162994285,
        0.23752470061837583,
        -0.31024186365977746
      ],
      "qvel": [
        -0.18542105070428247,
        -0.2879500396935745,
        0.11547707319544175,
        -1.4649915722238138,
        2.1272874513471858,
        -8.132773068400738,
        -0.27291821427052465,
        -0.632030477926263,
        0.6769264718560448,
        -1.9265379574736778,
        2.3667701163203794,
        0.01146833355823533,
        0.5690314708427656,
        6.552578964209054,
        -0.4792546814155519,
        1.5302553350378056,
        -0.4467344411862214,
        0.1508567573752792,
        -2.682240501449438,
        -2.473241974111279
      ],
      "target_rad": [
        -0.01421272661536932,
        0.18251469731330872,
        -0.5419949889183044,
        -0.39580944180488586,
        0.9152083396911621,
        -0.08260270953178406,
        0.28852081298828125,
        -0.7687179446220398,
        0.0322088897228241,
        0.006348852068185806,
        -0.1699875295162201,
        0.6242196559906006,
        -0.20928941667079926,
        -0.6836145520210266
      ],
      "policy_call": 106,
      "body_poses": [
        [
          -0.5065905678724141,
          -0.7977357507292212,
          1.3425441136703267,
          0.35869482676666664,
          -0.7017506580348022,
          -0.31684966173638474,
          0.5277218273447595
        ],
        [
          -0.49914031863219366,
          -0.8031241735935908,
          1.3257301704893434,
          -0.661404325090765,
          0.22753224156865293,
          -0.5961387295353365,
          0.394197936252803
        ],
        [
          -0.4829130283064816,
          -0.7955731966180676,
          1.31533027648026,
          -0.30644617511486716,
          0.6268704195368208,
          -0.7017983632668515,
          -0.14353841361519537
        ],
        [
          -0.4881973264766501,
          -0.8262056598926419,
          1.3143411422221287,
          0.4411012956903847,
          0.8945378888886485,
          -0.06960872811830374,
          0.01965291969799763
        ],
        [
          -0.47139833340092624,
          -0.8469044718288069,
          1.3470421192791382,
          -0.5899106911548095,
          0.3011610520880438,
          0.3228910203421809,
          0.6760538337653762
        ],
        [
          -0.43041229174866485,
          -0.8715045916280721,
          1.3345930833509672,
          0.2627429517800138,
          0.5097330731833825,
          -0.7383871638853376,
          0.35485593076954125
        ],
        [
          -0.5307166557232443,
          -0.7787082145932247,
          1.3110276351891041,
          0.6325694320410806,
          -0.160601488401441,
          -0.23512623996687496,
          -0.7202629567383749
        ],
        [
          -0.5800544510797581,
          -0.7742510581005982,
          1.3042515223388775,
          0.12800123933423274,
          0.5314631321432983,
          -0.7977905441747957,
          0.25434793006159717
        ],
        [
          -0.598081929729583,
          -0.7606790402018632,
          1.3113573179520739,
          -0.561571821392548,
          0.514007273964019,
          0.6088390232818993,
          -0.22304406618217149
        ],
        [
          -0.6141704466681226,
          -0.7719339377612308,
          1.299309625075574,
          0.04355679184041364,
          0.2218053180465226,
          0.8234457891649023,
          -0.5204250561583703
        ],
        [
          -0.5014544044748773,
          -0.7841580716760048,
          1.3550547674135032,
          -0.7199870621528017,
          0.12014596277345314,
          -0.6266715674374425,
          0.2728851856135044
        ],
        [
          -0.4853558700604061,
          -0.7727044633194436,
          1.3488780332181052,
          0.22918998297484783,
          -0.6063658803281157,
          -0.6243663547466021,
          -0.43584289134771753
        ],
        [
          -0.49382921314274864,
          -0.7739799308994404,
          1.3787749501069968,
          0.10882656649571171,
          0.04979105671872219,
          -0.3002367032186128,
          -0.946327401661817
        ],
        [
          -0.4655216800877283,
          -0.7995000581720322,
          1.3968693569980681,
          -0.08501338574681547,
          -0.0040640602581852175,
          -0.9525556446347212,
          0.2922224350261484
        ],
        [
          -0.4282793619301002,
          -0.7832458571337575,
          1.424955130743033,
          -0.7719307841240701,
          0.2861802609758839,
          -0.10354750367113327,
          -0.5581233172273397
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.40552921645354745,
            -0.8593716850450608,
            1.3134572430511444
          ],
          "distance_m": -0.002549096016990413,
          "contact_frame": [
            -0.2381848201040449,
            0.05722391060762579,
            0.9695325757945292,
            0.013652237827401575,
            0.9983613694723822,
            -0.05557150661565344,
            -0.9711238890452176,
            1.734723475976807e-18,
            -0.23857575762363653
          ],
          "force_torque_contact_frame": [
            2.2760715415790895,
            1.15140475202335,
            1.1246667895557396,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.6015550984755644,
            -0.780424278900643,
            1.2618416298836383
          ],
          "distance_m": -0.00018948256984620962,
          "contact_frame": [
            -0.2381989404261033,
            0.05715818924385858,
            0.9695329835452969,
            0.013637315293462439,
            0.9983651343082666,
            -0.05550749705421283,
            -0.9711206353545724,
            -1.734723475976807e-18,
            -0.23858900139891528
          ],
          "force_torque_contact_frame": [
            2.484608354217549,
            -0.4168414676562933,
            -1.3024756828710307,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.6002586667097919,
            -0.7814167178292903,
            1.2622333674177058
          ],
          "distance_m": -0.0001611320135555504,
          "contact_frame": [
            -0.2381848472467193,
            0.05720452909457817,
            0.9695337128708442,
            0.013647600239964927,
            0.9983624801899696,
            -0.055552688113380704,
            -0.9711239475729898,
            0.0,
            -0.23857551938590196
          ],
          "force_torque_contact_frame": [
            1.987744918448284,
            0.1181250551134631,
            -1.2626582722677429,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 65,
      "physics_step": 433,
      "sim_time_s": 2.164999999999976,
      "qpos": [
        -0.5127536674944823,
        -0.8066654036011003,
        1.3451429526771397,
        0.4067069032365678,
        -0.6896570813799998,
        -0.38561732372280294,
        0.45854321999894965,
        -0.31730945109074227,
        -0.0027366155849654697,
        -0.1504365581342232,
        -0.0566847981730948,
        0.3450507972614176,
        0.08802153008838391,
        0.2773656365246373,
        -0.8513607212946092,
        0.05539810160216509,
        0.02474589678106003,
        -0.1080954519408836,
        0.4455083736114869,
        0.1392936837788411,
        -0.3993837234898386
      ],
      "qvel": [
        -0.20876111523972002,
        -0.318266925557691,
        0.03304441158870342,
        -0.9798003117366731,
        2.2159225351450926,
        -5.843440047039934,
        2.008452609430045,
        0.06663912698677438,
        -2.778983114931674,
        -2.6459112011248793,
        4.760177303874764,
        -0.4046549470207779,
        0.3426780751845224,
        4.11418695915469,
        1.2631067172579495,
        0.4264762391427869,
        -0.3644554565668989,
        0.7612530774766674,
        -3.5096268204971537,
        -3.165493030215024
      ],
      "target_rad": [
        0.022914912551641464,
        0.07187694311141968,
        -0.8170517683029175,
        -0.2246665507555008,
        0.9173680543899536,
        -0.036638736724853516,
        0.4175831973552704,
        -0.9011530876159668,
        0.2594485282897949,
        -0.07243624329566956,
        -0.11025190353393555,
        0.5505006909370422,
        -0.21728111803531647,
        -0.7120716571807861
      ],
      "policy_call": 108,
      "body_poses": [
        [
          -0.5127536674944823,
          -0.8066654036011003,
          1.3451429526771397,
          0.4067069032365678,
          -0.6896570813799998,
          -0.38561732372280294,
          0.45854321999894965
        ],
        [
          -0.5035497248153787,
          -0.8087789346421511,
          1.3284675088839961,
          -0.7168185369160359,
          0.13285555790825707,
          -0.5983492211745326,
          0.3324135908567372
        ],
        [
          -0.4864830099163483,
          -0.7990995168296128,
          1.3218693187256627,
          -0.41318109907105066,
          0.6017103015188848,
          -0.6573259867706218,
          -0.1874797043216143
        ],
        [
          -0.4907194040942682,
          -0.828760826597979,
          1.3135320729457718,
          0.334647690901263,
          0.9377894616229618,
          -0.07038514578228794,
          0.060064797482173735
        ],
        [
          -0.47551963374752276,
          -0.855645559073722,
          1.3422754030507533,
          -0.5928989160509692,
          0.186172033392003,
          0.2844939909818988,
          0.7299822041827212
        ],
        [
          -0.43301067003281185,
          -0.8778573696721104,
          1.3304591653312965,
          0.13456888116218269,
          0.45878032912524214,
          -0.8209285917091771,
          0.3122308010829171
        ],
        [
          -0.5337909735240357,
          -0.7818074646384479,
          1.3155301465318592,
          0.6304418190158404,
          -0.060319118160515314,
          -0.19761350868267435,
          -0.7482336653789772
        ],
        [
          -0.5821547400871113,
          -0.7754582632362358,
          1.30454680799631,
          0.032422156283984684,
          0.5209540609361376,
          -0.8282012868648586,
          0.20405464614028393
        ],
        [
          -0.6008366191882445,
          -0.7630774445067648,
          1.3121220775260778,
          -0.5635344109374638,
          0.5221281597756893,
          0.616027638432677,
          -0.17412955276367403
        ],
        [
          -0.616769430673706,
          -0.7726832427647271,
          1.2985377425038518,
          0.050739368534606054,
          0.26907795132606666,
          0.8269412829871668,
          -0.49111168493776935
        ],
        [
          -0.5091112965655424,
          -0.7957667204268303,
          1.3604792442459284,
          -0.7629355991958718,
          0.029081128999162025,
          -0.6122309022610817,
          0.20556478718971435
        ],
        [
          -0.49269659157463047,
          -0.7832807581860054,
          1.3587021097597327,
          0.25910403063248694,
          -0.5471703007378231,
          -0.5904615192398355,
          -0.5336899451905248
        ],
        [
          -0.5045141278846169,
          -0.7909458726580615,
          1.38643010744605,
          0.1004415329698438,
          0.11692142292703075,
          -0.20327108373215252,
          -0.9669135151779309
        ],
        [
          -0.477243160942821,
          -0.8192040139062127,
          1.4018499874607913,
          -0.13078370964748676,
          0.03290998333894256,
          -0.9715591491904678,
          0.19464165513005494
        ],
        [
          -0.44371133407429825,
          -0.8047702047041403,
          1.4351258306323411,
          -0.7914292289172997,
          0.2344948237642156,
          0.001389333910480725,
          -0.5644909414635839
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.6038699939453992,
            -0.7809679541255015,
            1.261245025910293
          ],
          "distance_m": -0.0003051308041191781,
          "contact_frame": [
            -0.2381369912399003,
            0.057237939670249226,
            0.969543496530977,
            0.013652853700527953,
            0.9983605652580159,
            -0.05558580145619087,
            -0.9711356099891714,
            0.0,
            -0.23852804239954756
          ],
          "force_torque_contact_frame": [
            3.3800291899285364,
            -0.9467136216420269,
            -1.4279234488449442,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.6014526420725518,
            -0.7828237125192412,
            1.262015491286445
          ],
          "distance_m": -0.00017525870650854594,
          "contact_frame": [
            -0.23818337579988014,
            0.05720384775117836,
            0.9695341145596854,
            0.013647352843966997,
            0.9983625192295934,
            -0.05555204728803666,
            -0.9711243119461719,
            -1.734723475976807e-18,
            -0.23857403619647022
          ],
          "force_torque_contact_frame": [
            1.8494867311148526,
            0.4843647696235212,
            -1.3651219614913315,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 66,
      "physics_step": 440,
      "sim_time_s": 2.1999999999999753,
      "qpos": [
        -0.5209275562134481,
        -0.8176848400840068,
        1.3455071432554508,
        0.44962241126993263,
        -0.6790975844168902,
        -0.4284819863841489,
        0.39124077684624153,
        -0.23088582905103783,
        -0.013588017451236282,
        -0.2833114580200795,
        -0.12499933644715536,
        0.5104601093000168,
        0.08432141953619973,
        0.2974083822922697,
        -0.7516518448881405,
        0.13752055786594664,
        0.026859829686424017,
        -0.10930493193534394,
        0.4693164146356066,
        0.024120814608944732,
        -0.50280831398965
      ],
      "qvel": [
        -0.262688812401511,
        -0.30066003701613286,
        -0.0007744024032012332,
        -0.730725818191961,
        2.388669256562645,
        -3.9708789436688785,
        2.581465086119666,
        -0.6514537003081837,
        -4.158648686129257,
        -1.289697515660425,
        4.377166080401663,
        0.12955068280598547,
        0.7634986606474483,
        2.072871336308763,
        2.8811265541670905,
        -0.05599778637436373,
        0.2475966902911816,
        0.5421741233879835,
        -2.9250245488827322,
        -2.6397798871713984
      ],
      "target_rad": [
        0.017600949853658676,
        0.05697283148765564,
        -0.8466866612434387,
        -0.07417651265859604,
        0.8425430059432983,
        0.08162441849708557,
        0.4882265627384186,
        -0.8270394802093506,
        0.35027003288269043,
        -0.0059066154062747955,
        -0.07851891219615936,
        0.4450388550758362,
        -0.11865666508674622,
        -0.6650851964950562
      ],
      "policy_call": 110,
      "body_poses": [
        [
          -0.5209275562134481,
          -0.8176848400840068,
          1.3455071432554508,
          0.44962241126993263,
          -0.6790975844168902,
          -0.4284819863841489,
          0.39124077684624153
        ],
        [
          -0.5103566262914278,
          -0.8174576189370377,
          1.3295242207713085,
          -0.7575516341603951,
          0.027480424458577714,
          -0.5953775982139531,
          0.2662439922279487
        ],
        [
          -0.4927820147363662,
          -0.8067642198665812,
          1.3272254721968322,
          -0.5178075639510457,
          0.559227956319718,
          -0.60547307285961,
          -0.22921993287560366
        ],
        [
          -0.49559628238021197,
          -0.833608784197451,
          1.3117755769378152,
          0.22385222742856567,
          0.9699261920708329,
          -0.030788202937638037,
          0.09047346997940377
        ],
        [
          -0.47823097170557954,
          -0.8643960659672503,
          1.3348101194948203,
          -0.6185775387060454,
          0.08024663182250955,
          0.227718568799268,
          0.7477075364830328
        ],
        [
          -0.433639967721934,
          -0.8813336708706797,
          1.3219742360477866,
          0.020155405842517557,
          0.40976662837781985,
          -0.8796567749827364,
          0.24060138842111398
        ],
        [
          -0.538817667871985,
          -0.7877907720057119,
          1.3186056142872795,
          0.6127560182718863,
          0.01947099529852054,
          -0.16322916936448956,
          -0.772985886470282
        ],
        [
          -0.5858650198304467,
          -0.7780021419716956,
          1.3047951329142866,
          -0.04343961435575216,
          0.49147050006340504,
          -0.8552390696045701,
          0.15854299509584066
        ],
        [
          -0.60465892871936,
          -0.7659661180368075,
          1.3126440248185,
          -0.5745353616328439,
          0.527990289344903,
          0.6149534185331091,
          -0.11387565861651766
        ],
        [
          -0.6205459764533556,
          -0.7731659308488757,
          1.2975966194019866,
          0.05969583428952073,
          0.34991971030284574,
          0.8189892789918372,
          -0.4508316366521777
        ],
        [
          -0.5184115585227106,
          -0.8094606177130703,
          1.362632619074055,
          -0.7854862687292845,
          -0.04926324635439117,
          -0.5939720454213865,
          0.16667832328862453
        ],
        [
          -0.5016668249235793,
          -0.7973999459370166,
          1.3642617578049263,
          0.2694482212746566,
          -0.5086206948828568,
          -0.5491918151098293,
          -0.6058803471026061
        ],
        [
          -0.5160287846042717,
          -0.8089783832542229,
          1.389300206307613,
          0.08086157052686058,
          0.16212079979707167,
          -0.13257000186324255,
          -0.9744759860002027
        ],
        [
          -0.49002288514881137,
          -0.8395459232175295,
          1.4023124919836247,
          -0.16370781888668995,
          0.0691033974090834,
          -0.9753803162590784,
          0.13060516512077555
        ],
        [
          -0.4594477671556708,
          -0.8260521351480066,
          1.438686656485924,
          -0.8044170061242036,
          0.1957457020222013,
          0.07444178437341417,
          -0.5559274423315602
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.4045262980249333,
            -0.8693691440152753,
            1.3156067624330399
          ],
          "distance_m": -1.0447614474202113e-06,
          "contact_frame": [
            -0.23828915265958844,
            0.05712133797411653,
            0.969512987263617,
            0.013633655665535985,
            0.9983672434270101,
            -0.0554704487555928,
            -0.9710985548120074,
            0.0,
            -0.2386788571324051
          ],
          "force_torque_contact_frame": [
            1.765177833416433,
            0.3491052824318205,
            0.5661525091692903,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.6079407428367269,
            -0.7817264054419075,
            1.2603797205783096
          ],
          "distance_m": -0.00012948906793760549,
          "contact_frame": [
            -0.23820307368579097,
            0.05717942644275908,
            0.969530715799308,
            0.013642635597870061,
            0.9983639182140335,
            -0.05552805869348059,
            -0.9711195468018268,
            -1.734723475976807e-18,
            -0.23859343205422617
          ],
          "force_torque_contact_frame": [
            4.416272026782584,
            -0.5679683488787914,
            -2.2768339294619815,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 67,
      "physics_step": 447,
      "sim_time_s": 2.2349999999999746,
      "qpos": [
        -0.529503955554195,
        -0.828329763683048,
        1.3436446279248317,
        0.4866956395161675,
        -0.6716336544796124,
        -0.44977831931271606,
        0.33126281427672766,
        -0.14260521384808122,
        -0.035934958630667715,
        -0.43499362748040005,
        -0.14722656306463752,
        0.6441868632258914,
        0.09915370762951377,
        0.32941016705995857,
        -0.7026777829313766,
        0.2465309271811014,
        0.024565853142757225,
        -0.10009320995511058,
        0.47556298816059295,
        -0.05408630092821022,
        -0.5753919134349994
      ],
      "qvel": [
        -0.22635650465423793,
        -0.3060643236186325,
        -0.08914343807332185,
        -0.057142022973105944,
        2.6054962282575667,
        -3.1628248969364887,
        2.4261102562189767,
        -0.7394659329956815,
        -4.245338317792636,
        -0.2522741082572769,
        3.3265074519457505,
        0.6092429936728011,
        0.9822769844492768,
        1.1040023842770321,
        3.1085538232026133,
        -0.01831254383653091,
        0.28451424201294623,
        -0.08251281970603015,
        -1.7030775860764642,
        -1.6270262816634922
      ],
      "target_rad": [
        0.02638208121061325,
        0.05405554175376892,
        -0.8361535668373108,
        -0.03701896220445633,
        0.7956898212432861,
        0.13240191340446472,
        0.49498414993286133,
        -0.7667691707611084,
        0.37987250089645386,
        0.03367846459150314,
        -0.06561365723609924,
        0.39459073543548584,
        -0.08468332886695862,
        -0.6402499079704285
      ],
      "policy_call": 111,
      "body_poses": [
        [
          -0.529503955554195,
          -0.828329763683048,
          1.3436446279248317,
          0.4866956395161675,
          -0.6716336544796124,
          -0.44977831931271606,
          0.33126281427672766
        ],
        [
          -0.5179042854876903,
          -0.8266778406201113,
          1.328479905555386,
          -0.7797669911104957,
          -0.06842298555866883,
          -0.5847443823533726,
          0.2129688754909854
        ],
        [
          -0.5000689656179378,
          -0.8162762348454566,
          1.329965826970631,
          -0.6043872026831019,
          0.5130493240422632,
          -0.5549403202934213,
          -0.2520669380250143
        ],
        [
          -0.5012686046944009,
          -0.8395431355432975,
          1.3093633465859047,
          0.13676909230691886,
          0.9820852335557255,
          0.015172146754429378,
          0.1287346704823496
        ],
        [
          -0.4812296236690756,
          -0.8714760412687202,
          1.3283035064534432,
          -0.6529729453970695,
          -0.008141835038735966,
          0.18764890225327624,
          0.7337219722652562
        ],
        [
          -0.43443132724865396,
          -0.8815858536037021,
          1.316149858988678,
          -0.06712396812056688,
          0.3871317778818727,
          -0.9026907480191442,
          0.17542170019244122
        ],
        [
          -0.5442660130587397,
          -0.7944669154908692,
          1.3197115371759132,
          0.5921908164775129,
          0.07721959450496513,
          -0.13476324194959893,
          -0.7906870681397409
        ],
        [
          -0.5900491388149758,
          -0.7813520249409762,
          1.3044831084371038,
          -0.0982705342200432,
          0.454534383184841,
          -0.8770829478142298,
          0.12027842391877563
        ],
        [
          -0.6085967864293433,
          -0.769159854814312,
          1.3126695449747998,
          -0.5891496978470256,
          0.5276322115494416,
          0.6097259553287253,
          -0.05235591906057077
        ],
        [
          -0.6243079314425546,
          -0.7736923622598462,
          1.2964437538190494,
          0.0648641280561145,
          0.4377529148567937,
          0.799979736320962,
          -0.4052128476513855
        ],
        [
          -0.5277646317221255,
          -0.8224199633634589,
          1.3617912257544464,
          -0.7948250357381065,
          -0.11700338314516642,
          -0.576990386383668,
          0.14712397805024371
        ],
        [
          -0.5106430492936105,
          -0.8115331853090392,
          1.3658936005224764,
          0.27132628780017115,
          -0.4874081450407305,
          -0.5043066556170266,
          -0.6591586628399133
        ],
        [
          -0.5269083795677884,
          -0.8253779758910881,
          1.3884991486204794,
          0.04613587582191808,
          0.1894602143828953,
          -0.07742010877136317,
          -0.9777435424925914
        ],
        [
          -0.5028927161067059,
          -0.8584793416543256,
          1.3988697020069865,
          -0.1872975109839622,
          0.07255704949138865,
          -0.9761385293558089,
          0.0825147771941178
        ],
        [
          -0.4741000842592671,
          -0.8477500588393243,
          1.4375461398157294,
          -0.8230759241458212,
          0.16192152561665415,
          0.12518173036892227,
          -0.5297706834237994
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.40463186648175364,
            -0.8719163565315935,
            1.3156572761051073
          ],
          "distance_m": -0.000143729698481921,
          "contact_frame": [
            -0.23850575238538838,
            0.05710231460534367,
            0.9694608459065235,
            0.013641488893397344,
            0.9983683316625747,
            -0.05544893248800163,
            -0.9710452697273445,
            0.0,
            -0.23889555069140342
          ],
          "force_torque_contact_frame": [
            1.6438209380803932,
            -0.3251279406338779,
            -1.1229447831084776,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.6115394373071273,
            -0.7815361555068605,
            1.259482367010175
          ],
          "distance_m": -0.00013260880918731802,
          "contact_frame": [
            -0.23814836131460732,
            0.05722123635051882,
            0.9695416897244209,
            0.013649508077711647,
            0.998361522751412,
            -0.05556942341538574,
            -0.9711328688353636,
            -1.734723475976807e-18,
            -0.23853920237058787
          ],
          "force_torque_contact_frame": [
            4.713035787451549,
            -0.481583558830213,
            -1.2194262235942017,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 68,
      "physics_step": 453,
      "sim_time_s": 2.264999999999974,
      "qpos": [
        -0.5355618707703945,
        -0.8375174522463211,
        1.339861627261527,
        0.5214863850023292,
        -0.6597893065843049,
        -0.46212311091023794,
        0.28137564133529425,
        -0.07457185038831979,
        -0.06298142535672932,
        -0.5512511511510455,
        -0.1457885147113561,
        0.7216886843257946,
        0.12183922947084783,
        0.35894709445298784,
        -0.6716894557661669,
        0.3328930913246366,
        0.02675967597521974,
        -0.09014949455113631,
        0.46327784624706103,
        -0.08839460169282602,
        -0.6088845330768815
      ],
      "qvel": [
        -0.18564996748082788,
        -0.3054970748312548,
        -0.14827988813290857,
        0.28597590969983366,
        2.6043090879101123,
        -3.499490647208981,
        2.1440038178679512,
        -1.066187149896238,
        -3.573410552749983,
        0.24523076088190907,
        1.9831178133990073,
        0.8318959305057462,
        0.9628711355894035,
        1.0313245520290686,
        2.6860608970422892,
        0.1592740915303391,
        0.39111855245280686,
        -0.6543451404666075,
        -0.7786290811054268,
        -0.7599821032025733
      ],
      "target_rad": [
        0.046082764863967896,
        0.044356346130371094,
        -0.8118242025375366,
        -0.003603191114962101,
        0.6993852853775024,
        0.20443373918533325,
        0.47986534237861633,
        -0.7215402722358704,
        0.4365580677986145,
        0.08044546842575073,
        -0.04238662123680115,
        0.30711519718170166,
        -0.061270713806152344,
        -0.5915695428848267
      ],
      "policy_call": 113,
      "body_poses": [
        [
          -0.5355618707703945,
          -0.8375174522463211,
          1.339861627261527,
          0.5214863850023292,
          -0.6597893065843049,
          -0.46212311091023794,
          0.28137564133529425
        ],
        [
          -0.5232722742956019,
          -0.8347455086692914,
          1.3254209850565373,
          -0.7875502075532612,
          -0.14850327071668845,
          -0.5736436872014644,
          0.1692464750095817
        ],
        [
          -0.5053965095602823,
          -0.8252695530040837,
          1.3297985756448085,
          -0.670564947104347,
          0.4681898086103259,
          -0.5108147349171779,
          -0.26497030290178375
        ],
        [
          -0.5050372455326843,
          -0.8449676649388974,
          1.3057339685305833,
          0.0703051899137355,
          0.9821291184035239,
          0.044869208671214605,
          0.1687196762927444
        ],
        [
          -0.483424781304829,
          -0.8772943156714679,
          1.322101311834372,
          -0.6760016088217194,
          -0.08171414342618066,
          0.16349907541408434,
          0.7138716102866896
        ],
        [
          -0.43522978466351264,
          -0.8818595450600253,
          1.3122829117929524,
          -0.13417736563056815,
          0.3804238650416314,
          -0.9065696520453631,
          0.12411923078063163
        ],
        [
          -0.5478614808950768,
          -0.8005735783746056,
          1.3193366805775135,
          0.5756117189852163,
          0.121616729331501,
          -0.10539470615090724,
          -0.801730924954848
        ],
        [
          -0.5927282765376708,
          -0.7848172678863808,
          1.303886459589956,
          -0.13847747573452593,
          0.4232478611920397,
          -0.8916067378942555,
          0.08199183893608827
        ],
        [
          -0.6109991864746876,
          -0.7726524886316222,
          1.3127110832854125,
          -0.6068633704416309,
          0.5190727924002979,
          0.6018955122489489,
          -0.0014415757198612822
        ],
        [
          -0.6265440342794257,
          -0.7747586963988332,
          1.2958415368905367,
          0.05751544974491959,
          0.5025715087240707,
          0.7822671762905147,
          -0.36355455788356605
        ],
        [
          -0.5343441967569493,
          -0.8337309160259022,
          1.3586080779508825,
          -0.7951109289697593,
          -0.1773643682058424,
          -0.5653867545057878,
          0.1291445289325112
        ],
        [
          -0.5169804062125257,
          -0.8241704420062971,
          1.3645743258882246,
          0.2771716455216896,
          -0.47092640559333526,
          -0.45849817777172325,
          -0.700844933215436
        ],
        [
          -0.5345602727466159,
          -0.83980616638148,
          1.384914493436868,
          0.006721538677809419,
          0.20570835490285608,
          -0.02355829034605866,
          -0.9783066495720723
        ],
        [
          -0.512689168485709,
          -0.8752110760106478,
          1.3918533735315948,
          -0.20446659821747745,
          0.049939412472132405,
          -0.9770543151540088,
          0.03262407905583288
        ],
        [
          -0.4848834317714574,
          -0.8694255386830649,
          1.432268328234141,
          -0.8431072236223247,
          0.12351471480265243,
          0.16617772277922216,
          -0.49628549158220014
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.4338300029454493,
            -0.9028348166408438,
            1.3098951505730294
          ],
          "distance_m": -0.00093233203801047,
          "contact_frame": [
            -0.23829959828774627,
            0.057102222446340854,
            0.9695115459073127,
            0.013629675708760685,
            0.9983683369336633,
            -0.05545174251892732,
            -0.9710960474618218,
            0.0,
            -0.23868905840869042
          ],
          "force_torque_contact_frame": [
            5.341587439443937,
            0.9553290653909654,
            0.527210655068985,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.6141268367935394,
            -0.7828464004135736,
            1.2588898170433136
          ],
          "distance_m": -0.00019807940972962204,
          "contact_frame": [
            -0.23822666026930073,
            0.05716350759521105,
            0.9695258592406638,
            0.01364017551208427,
            0.9983648298089293,
            -0.055512270828955365,
            -0.9711137955713196,
            1.734723475976807e-18,
            -0.23861683941219508
          ],
          "force_torque_contact_frame": [
            4.975024646264112,
            -0.3902320594586559,
            -1.2324208440536297,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 69,
      "physics_step": 460,
      "sim_time_s": 2.299999999999973,
      "qpos": [
        -0.5426752173973094,
        -0.8472710097866412,
        1.335543227308463,
        0.5558406613112593,
        -0.6419816903920572,
        -0.4798576867543188,
        0.22053858822712413,
        -0.022891911525771066,
        -0.1160789293617267,
        -0.6687112430957167,
        -0.1151561096715303,
        0.7546679947280299,
        0.14868578796222917,
        0.3892929365633986,
        -0.6436430347093302,
        0.4167362605302713,
        0.03956529441888187,
        -0.06716638565695848,
        0.42586037389314624,
        -0.10024850708769065,
        -0.6211106363359095
      ],
      "qvel": [
        -0.19913841592681364,
        -0.27395815768760756,
        -0.13291880625805885,
        -0.023781896773919113,
        2.243442325167296,
        -3.572323674613684,
        1.272431967207002,
        -1.3292287555934648,
        -3.2028116505527735,
        1.191914169983455,
        0.27223457623164604,
        0.6808650869643527,
        0.708787258525578,
        0.5606082416268692,
        2.180639834589783,
        0.4229405280413374,
        0.6548594124466116,
        -1.3140683059295426,
        -0.13799554413701168,
        -0.13658280516195098
      ],
      "target_rad": [
        0.08587319403886795,
        0.05650314688682556,
        -0.8069310784339905,
        0.017249632626771927,
        0.6504049897193909,
        0.2102864682674408,
        0.4028858542442322,
        -0.7934358716011047,
        0.5004948377609253,
        0.06138419359922409,
        -0.023241043090820312,
        0.25536268949508667,
        -0.11102702468633652,
        -0.5883961915969849
      ],
      "policy_call": 115,
      "body_poses": [
        [
          -0.5426752173973094,
          -0.8472710097866412,
          1.335543227308463,
          0.5558406613112593,
          -0.6419816903920572,
          -0.4798576867543188,
          0.22053858822712413
        ],
        [
          -0.52944732022666,
          -0.8432406253181215,
          1.3222756451067716,
          -0.7918961450062956,
          -0.23079534063998294,
          -0.5516607838183037,
          0.12371089628653145
        ],
        [
          -0.5118051981138113,
          -0.835278773960882,
          1.3296148855525234,
          -0.7394876757860446,
          0.42379187746731484,
          -0.45374106499941547,
          -0.260148934048322
        ],
        [
          -0.5088187352656702,
          -0.8512373939425253,
          1.303088417865736,
          0.016065057168842337,
          0.9701718978255464,
          0.06746420840815448,
          0.2322864248973674
        ],
        [
          -0.4867882991853947,
          -0.8836269576005779,
          1.318759312433815,
          -0.6957712515010308,
          -0.16274398457200068,
          0.16652166447362599,
          0.6794757510987792
        ],
        [
          -0.43757795638790686,
          -0.8826290533271807,
          1.3145944176194322,
          -0.2126487761611378,
          0.39647557981302733,
          -0.888027052154654,
          0.0948449642870341
        ],
        [
          -0.5522750573241059,
          -0.8074636718693755,
          1.3193994178580728,
          0.5567965576885416,
          0.17833568298981153,
          -0.07436208744101602,
          -0.8078640092677497
        ],
        [
          -0.5959305059029464,
          -0.789018884539615,
          1.3034623030081347,
          -0.18935110372598965,
          0.39002526585795294,
          -0.9003038132299592,
          0.038464209257144215
        ],
        [
          -0.6141648401152344,
          -0.7772057200466385,
          1.3128239368455832,
          -0.6230075645462355,
          0.5001497615934368,
          0.5986078890361671,
          0.058141084268011456
        ],
        [
          -0.6290874398307741,
          -0.7765816279702035,
          1.2952857919377,
          0.047774681501615485,
          0.5649236403913123,
          0.7634643233505036,
          -0.309355923339773
        ],
        [
          -0.542430607618234,
          -0.8459861821394116,
          1.3546623115954497,
          -0.7953727282320283,
          -0.2479076066159009,
          -0.544185564165503,
          0.09892478719001131
        ],
        [
          -0.5251744898627841,
          -0.8381125536361486,
          1.362952810627634,
          0.28989936381709613,
          -0.4414931176206975,
          -0.4021670284806352,
          -0.7478662093951403
        ],
        [
          -0.5441294224502227,
          -0.8559391128792092,
          1.3799873143233485,
          -0.044235037971083274,
          0.2251027105283313,
          0.050626274393996806,
          -0.9720128658970922
        ],
        [
          -0.5249378937450685,
          -0.8934720875443295,
          1.3817083381920632,
          -0.2273565328628994,
          0.0045215396396302565,
          -0.9730083790662181,
          -0.039284308709449545
        ],
        [
          -0.4987758481524892,
          -0.8958938816809007,
          1.4235375419087475,
          -0.8632919498713603,
          0.0690090349812466,
          0.2201635824499026,
          -0.44887944856173434
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.4364551332329794,
            -0.9023185311558702,
            1.3094374896433523
          ],
          "distance_m": -0.0005096386284174522,
          "contact_frame": [
            -0.23828550642311316,
            0.05712464086129946,
            0.9695136888332975,
            0.013634237945085375,
            0.9983670544476451,
            -0.05547370682755242,
            -0.9710994413469388,
            1.734723475976807e-18,
            -0.2386752501112394
          ],
          "force_torque_contact_frame": [
            1.7628072345358272,
            0.042565072876893595,
            -0.7078322330295247,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.6170457363779863,
            -0.7838854516289224,
            1.2582152984020973
          ],
          "distance_m": -0.00023352000997866167,
          "contact_frame": [
            -0.23821449870103217,
            0.057194733270717675,
            0.9695270058614703,
            0.01364695421312651,
            0.9983630414263599,
            -0.05554275969569183,
            -0.9711166836427645,
            1.734723475976807e-18,
            -0.2386050853411956
          ],
          "force_torque_contact_frame": [
            4.493478298567943,
            -0.742380001358312,
            -0.914679630292889,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 70,
      "physics_step": 467,
      "sim_time_s": 2.3349999999999724,
      "qpos": [
        -0.5488541697300953,
        -0.8571359746388928,
        1.3302983476468802,
        0.5886999193764468,
        -0.6143032792880837,
        -0.5006739791865085,
        0.15934068076803143,
        0.020043514787494467,
        -0.14225602223018963,
        -0.7637592940825828,
        -0.06492815219107438,
        0.7406745963564235,
        0.1725690331701166,
        0.3956745966358557,
        -0.6325863870506292,
        0.4470393958320598,
        0.05317738617346453,
        -0.046023946052960917,
        0.373213544674255,
        -0.10369472681962233,
        -0.6194723907128052
      ],
      "qvel": [
        -0.16161326743159232,
        -0.2884890021991623,
        -0.16375953647738636,
        0.291979432318104,
        2.0985646022070066,
        -4.232173847984043,
        1.20246075709968,
        -0.312535022255041,
        -2.248734710570827,
        1.5635998210560578,
        -0.8528398822623192,
        0.704469060779328,
        -0.2716846663065893,
        0.181482384712961,
        -0.09963333425821316,
        0.3229098077557724,
        0.5766581051306277,
        -1.5526113876697962,
        -0.11164207431714013,
        0.17562778030330953
      ],
      "target_rad": [
        0.09572084993124008,
        0.06116749346256256,
        -0.7399181127548218,
        0.024775471538305283,
        0.5887375473976135,
        0.23774634301662445,
        0.30755534768104553,
        -0.788475751876831,
        0.5577490925788879,
        0.04318200796842575,
        -0.005170196294784546,
        0.25700217485427856,
        -0.1372980922460556,
        -0.5662981271743774
      ],
      "policy_call": 116,
      "body_poses": [
        [
          -0.5488541697300953,
          -0.8571359746388928,
          1.3302983476468802,
          0.5886999193764468,
          -0.6143032792880837,
          -0.5006739791865085,
          0.15934068076803143
        ],
        [
          -0.5347589702757288,
          -0.8517346950658542,
          1.31849150508354,
          -0.7891736037165773,
          -0.30888844857483455,
          -0.5258754357815989,
          0.07244291252797955
        ],
        [
          -0.5176961873273037,
          -0.8456030406483039,
          1.3284797107361421,
          -0.7972700619498939,
          0.3688212815154146,
          -0.39786957710792886,
          -0.2646339173872044
        ],
        [
          -0.5122382074865788,
          -0.8571665222062594,
          1.30012929009875,
          -0.04313896200274403,
          0.9530969033236223,
          0.0801150161139042,
          0.2886640036882263
        ],
        [
          -0.4900056198954118,
          -0.8900533256701612,
          1.3144181350953823,
          -0.7101699219848671,
          -0.24013167985600448,
          0.16590555565599327,
          0.6406799550789903
        ],
        [
          -0.4410060419167961,
          -0.8840360035800131,
          1.3161013441676532,
          -0.2838982080098664,
          0.43014295799131796,
          -0.8542769800377912,
          0.06774721069370393
        ],
        [
          -0.5564697212389295,
          -0.8151679272582196,
          1.3194314236791758,
          0.5382716525916461,
          0.23890100190895588,
          -0.038836678680057454,
          -0.807268017260846
        ],
        [
          -0.598994858067719,
          -0.7942923932176836,
          1.3034368991093377,
          -0.24187430762269183,
          0.36910415324760615,
          -0.8973183090360783,
          -0.008876690602043887
        ],
        [
          -0.6176566764743936,
          -0.7835156743914734,
          1.3131980902614004,
          -0.6369741207646117,
          0.46267986615098344,
          0.6060024224085827,
          0.113808501306307
        ],
        [
          -0.6316130053261997,
          -0.7804113932441404,
          1.295135855528717,
          0.03332643286285764,
          0.5923216499210593,
          0.7666940885261682,
          -0.24540698141344622
        ],
        [
          -0.5497222977700158,
          -0.8585416370614343,
          1.3493907667408598,
          -0.7902654087489764,
          -0.3175578062690658,
          -0.5206861696828842,
          0.05935938100552307
        ],
        [
          -0.532902040353842,
          -0.8525322954013941,
          1.359853402798114,
          0.30809611054576536,
          -0.4023543658677521,
          -0.3436038757421407,
          -0.7906479162741848
        ],
        [
          -0.5529149599623531,
          -0.8724379864473332,
          1.3729108341200429,
          -0.09483269362203392,
          0.2409473459319841,
          0.13401760267431184,
          -0.9565513153418131
        ],
        [
          -0.5360998867448009,
          -0.9108558123814796,
          1.3682929506663397,
          -0.247568913962628,
          -0.045132812951676385,
          -0.9601805496138903,
          -0.12135062495760722
        ],
        [
          -0.5120651461824625,
          -0.9224975303444053,
          1.4098477536254777,
          -0.8742582337958406,
          0.005489031771698669,
          0.27565596650253416,
          -0.3995700180217989
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.43755153459964613,
            -0.9036321343711848,
            1.3093526480033544
          ],
          "distance_m": -0.00030164500127735573,
          "contact_frame": [
            -0.23829506248427418,
            0.057110732049946,
            0.9695121595319656,
            0.013631454037538461,
            0.9983678501858517,
            -0.055460068302366945,
            -0.9710971355412591,
            -1.734723475976807e-18,
            -0.23868463156131703
          ],
          "force_torque_contact_frame": [
            2.4116139467805917,
            0.45974138772898643,
            -0.360941695183122,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.6178953178126962,
            -0.7875208879311458,
            1.258210190378817
          ],
          "distance_m": -0.0002537583818253058,
          "contact_frame": [
            -0.2382512236907958,
            0.05711136451701413,
            0.9695228963014969,
            0.013629097705215799,
            0.9983678140059427,
            -0.055461298693205346,
            -0.9711079250554904,
            -1.734723475976807e-18,
            -0.23864072974750125
          ],
          "force_torque_contact_frame": [
            4.337712184384964,
            -1.2073829057512588,
            -0.729471592549924,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 71,
      "physics_step": 473,
      "sim_time_s": 2.364999999999972,
      "qpos": [
        -0.5537451252373482,
        -0.8656141390267562,
        1.3247160754994673,
        0.616657666275556,
        -0.5736893441461706,
        -0.5303773607958335,
        0.09650758618869398,
        0.05750888671214375,
        -0.14597943902649632,
        -0.8092195412390139,
        -0.01580547986672044,
        0.6952781561746881,
        0.18995562032702087,
        0.3697541037645819,
        -0.6200395691902665,
        0.44211265545571427,
        0.057042782869194904,
        -0.026908905193641204,
        0.33712214157465337,
        -0.10631580187973577,
        -0.6087539342268669
      ],
      "qvel": [
        -0.164078925456433,
        -0.27556645345490277,
        -0.20838368202544605,
        0.44794358093528747,
        1.880385548841158,
        -6.243662393431864,
        1.3410720499697835,
        0.055240992853919216,
        -0.8521591140743618,
        1.65784472179897,
        -2.0176041931475224,
        0.5337569849394087,
        -1.3981096266131545,
        0.7122305204397463,
        -0.1339334655821425,
        -0.07862232081981199,
        0.6876075864082941,
        -0.7416364998794776,
        -0.046572077446810085,
        0.49691411430808247
      ],
      "target_rad": [
        0.18051113188266754,
        0.08955350518226624,
        -0.44480448961257935,
        0.04850861430168152,
        0.41592758893966675,
        0.39834922552108765,
        -0.025722980499267578,
        -0.6019881367683411,
        0.7828709483146667,
        -0.07727624475955963,
        0.08309759944677353,
        0.5253280997276306,
        -0.11261426657438278,
        -0.5057359337806702
      ],
      "policy_call": 118,
      "body_poses": [
        [
          -0.5537451252373482,
          -0.8656141390267562,
          1.3247160754994673,
          0.616657666275556,
          -0.5736893441461706,
          -0.5303773607958335,
          0.09650758618869398
        ],
        [
          -0.5388416357434166,
          -0.8586197373839999,
          1.3149071842999445,
          -0.7812508485450903,
          -0.3821480140239102,
          -0.4935010506026958,
          0.008168235990322618
        ],
        [
          -0.522846897464662,
          -0.854505775930873,
          1.3273869146077806,
          -0.8454834031416206,
          0.3073258555663519,
          -0.3332092305402178,
          -0.2822768892333731
        ],
        [
          -0.5145962889853739,
          -0.8607871037629691,
          1.298065891767722,
          -0.11818103564346095,
          0.9287087266010043,
          0.07729140845359345,
          0.34286933681599513
        ],
        [
          -0.4924704173834212,
          -0.8948519501745644,
          1.3094690899690302,
          -0.7065695650126383,
          -0.3272572279870102,
          0.15629730018352622,
          0.6076457113182402
        ],
        [
          -0.444618924568917,
          -0.8857783770097306,
          1.3177095332487248,
          -0.3609278043488001,
          0.45729015089637476,
          -0.8120095926642552,
          0.03545785332413004
        ],
        [
          -0.5605567052602907,
          -0.8223914477619326,
          1.3199406174411452,
          0.5210996748016523,
          0.3082909386606001,
          0.0011515866873366871,
          -0.79587090656053
        ],
        [
          -0.6020650146936484,
          -0.7995460674849613,
          1.3039672380871952,
          -0.3028256181227046,
          0.3659180296470384,
          -0.8780998613865605,
          -0.057803754382689025
        ],
        [
          -0.6218301271186248,
          -0.790669185668645,
          1.3134658320703694,
          -0.6438453715189824,
          0.4081221951542481,
          0.6272863449984563,
          0.15940907368948296
        ],
        [
          -0.6345592220247629,
          -0.7856398804964473,
          1.2949364976960474,
          0.0271365274786298,
          0.5886168901210947,
          0.7889638442857464,
          -0.17415458061856662
        ],
        [
          -0.5559748145605717,
          -0.8699294149394817,
          1.3432540602690952,
          -0.7812489237058989,
          -0.3820329922790183,
          -0.4935900975290353,
          0.008350307778259913
        ],
        [
          -0.5399761333369563,
          -0.8658126521205801,
          1.3557278112285318,
          0.33201846885276004,
          -0.3510954202580543,
          -0.28703792618112695,
          -0.8271063844198805
        ],
        [
          -0.5605193011703402,
          -0.8876017962324264,
          1.3641219433601233,
          -0.12485277216073479,
          0.2561625605328637,
          0.22064810489079648,
          -0.9327952303014456
        ],
        [
          -0.5442494432788763,
          -0.9250004302464275,
          1.3533221849142891,
          -0.26752438538013124,
          -0.0751143245879191,
          -0.9381113977726996,
          -0.20672577690659671
        ],
        [
          -0.5225929843906603,
          -0.9446046111320444,
          1.393155260118534,
          -0.8664114815140134,
          -0.059487685681627496,
          0.3328153525048038,
          -0.36745925092456144
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.6201354321290692,
            -0.791823356818802,
            1.2579296639486695
          ],
          "distance_m": -0.00022150041448624778,
          "contact_frame": [
            -0.23819335814260262,
            0.05721551682588764,
            0.9695309736006872,
            0.013650718006812761,
            0.9983618505503636,
            -0.05556323661875637,
            -0.971121816269539,
            0.0,
            -0.23858419470985853
          ],
          "force_torque_contact_frame": [
            0.7408203714430046,
            -0.09593345104741505,
            -0.3946781025621013,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.6184223668001887,
            -0.794754284321114,
            1.258598190448454
          ],
          "distance_m": -7.643428360675776e-05,
          "contact_frame": [
            -0.23824072525643258,
            0.057111515961451774,
            0.9695254672126328,
            0.01362853340255855,
            0.9983678053425926,
            -0.055461593312043485,
            -0.9711105085965162,
            0.0,
            -0.23863021622044356
          ],
          "force_torque_contact_frame": [
            2.6326392748620338,
            -0.3188489325960387,
            0.008106642841946288,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 72,
      "physics_step": 480,
      "sim_time_s": 2.399999999999971,
      "qpos": [
        -0.5600483410370793,
        -0.8737601215340127,
        1.3198478016784467,
        0.6364562334696462,
        -0.5066420463409107,
        -0.5815332460452293,
        0.007508894807164657,
        0.10210368293592517,
        -0.11717913828406112,
        -0.7776387643993468,
        0.03483578534097723,
        0.6053713366968831,
        0.21206047613494472,
        0.29283577824426144,
        -0.5882455165388227,
        0.4398114959847024,
        0.043885577499352575,
        0.012089611467966473,
        0.3415241110456086,
        -0.09861203343694794,
        -0.5854608223713262
      ],
      "qvel": [
        -0.20269424863159083,
        -0.16378505003157853,
        0.061792209823021894,
        -1.09368100884842,
        -0.1256072618460331,
        -6.408717140718001,
        0.853588542388955,
        1.830499012623888,
        2.866048902880557,
        1.040622062876982,
        -2.7558051831409456,
        0.930392179485828,
        -2.6797367326849297,
        0.5932395479548822,
        -0.02722669104934925,
        -0.3671314425966158,
        1.7588126602689602,
        0.5110988749651773,
        0.6106280894591992,
        0.7466954210428842
      ],
      "target_rad": [
        0.1111619770526886,
        0.13143348693847656,
        0.10079085826873779,
        0.027241051197052002,
        0.4292125999927521,
        0.6322401762008667,
        -0.2561752200126648,
        -0.6356720328330994,
        1.2015568017959595,
        -0.45087119936943054,
        0.3236461877822876,
        1.2289323806762695,
        -0.07610123604536057,
        -0.4518730342388153
      ],
      "policy_call": 120,
      "body_poses": [
        [
          -0.5600483410370793,
          -0.8737601215340127,
          1.3198478016784467,
          0.6364562334696462,
          -0.5066420463409107,
          -0.5815332460452293,
          0.007508894807164657
        ],
        [
          -0.5442231869407231,
          -0.8648340995109965,
          1.3137534905056225,
          -0.765751302068045,
          -0.4673899695493191,
          -0.43206427414017967,
          -0.09215217174597914
        ],
        [
          -0.5305396309493506,
          -0.8637755183359611,
          1.329249932075442,
          -0.8921717568798144,
          0.22468550786286154,
          -0.22758796893642158,
          -0.31898228035078713
        ],
        [
          -0.5180778737984116,
          -0.8622059751449203,
          1.300798374246696,
          -0.24302100639525673,
          0.878829501837076,
          0.048754081381801095,
          0.4077039817073788
        ],
        [
          -0.49611239966546533,
          -0.8979289699574478,
          1.3054229252680385,
          -0.6660240990690549,
          -0.45803407139903446,
          0.12444491024962914,
          0.5754390960039473
        ],
        [
          -0.4506912616495461,
          -0.8892272348336269,
          1.3227780405708442,
          -0.474306699463791,
          0.4642165482142191,
          -0.747810972181247,
          -0.017745452746523435
        ],
        [
          -0.5674774319991271,
          -0.8305105918655364,
          1.32326693215025,
          0.4997195201730766,
          0.41333157370599055,
          0.04832028223031182,
          -0.7596726674436186
        ],
        [
          -0.607436987915097,
          -0.8057160367172191,
          1.3062827063511289,
          -0.40185923941193724,
          0.38353987291798236,
          -0.8244509241822526,
          -0.10810638832347957
        ],
        [
          -0.6292887133419386,
          -0.8000139510323541,
          1.3133304224579527,
          -0.6273448163005397,
          0.323780599911596,
          0.6783559190959862,
          0.20356289349773193
        ],
        [
          -0.6396612157544941,
          -0.7934101060692016,
          1.2938506784810886,
          0.053744825473729156,
          0.5653081791677521,
          0.8196947284167025,
          -0.07509133443152548
        ],
        [
          -0.564512694702683,
          -0.8818621212474754,
          1.3366310417408263,
          -0.768108983905633,
          -0.45461675948362457,
          -0.44548459302225263,
          -0.06982598527670578
        ],
        [
          -0.5502511789207359,
          -0.8802955598468445,
          1.3515526721135211,
          0.36959924028929714,
          -0.26696585483613666,
          -0.22006275133425357,
          -0.8623792781626793
        ],
        [
          -0.5703664200499018,
          -0.903967407672715,
          1.3530595545987683,
          -0.11985853761292178,
          0.28299187538397386,
          0.32917282933115655,
          -0.8928576470289509
        ],
        [
          -0.5511772184319589,
          -0.9376909069659033,
          1.3364914822577183,
          -0.29887158232191097,
          -0.07570745520934483,
          -0.8976799140687665,
          -0.3148252378441323
        ],
        [
          -0.5323524420817622,
          -0.9648226360386666,
          1.3732269837908027,
          -0.8267305835241682,
          -0.13602469677644194,
          0.4122334714334758,
          -0.35787901469989986
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "trunk_base",
          "position_m": [
            -0.5353833431041662,
            -0.9164020785453699,
            1.2848992946677675
          ],
          "distance_m": -0.0025491899640943346,
          "contact_frame": [
            -0.23829174701384176,
            0.05712075579857274,
            0.9695123839137337,
            0.013633664691510087,
            0.9983672767358712,
            -0.05546984703494008,
            -0.9710979180763238,
            1.734723475976807e-18,
            -0.23868144776632574
          ],
          "force_torque_contact_frame": [
            6.693486352632387,
            -2.870751999951943,
            -3.8227343526804445,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.6236684576120921,
            -0.7982373434695907,
            1.2575498015171116
          ],
          "distance_m": -6.835977719436095e-06,
          "contact_frame": [
            -0.23825302569007245,
            0.0570668422555958,
            0.9695250751086848,
            0.01361854115482421,
            0.99837035989405,
            -0.05541804599441787,
            -0.9711076310514403,
            1.734723475976807e-18,
            -0.23864192614387766
          ],
          "force_torque_contact_frame": [
            5.388311582700966,
            2.971706734003124,
            2.4166048486978426,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 73,
      "physics_step": 487,
      "sim_time_s": 2.4349999999999703,
      "qpos": [
        -0.5688309500100057,
        -0.8793803175337495,
        1.323361513137262,
        0.6214336891294625,
        -0.44522526695758635,
        -0.6402271820428896,
        -0.07552342054563822,
        0.11296511551699277,
        -0.03733746971968148,
        -0.5918728197980693,
        0.05695650176565298,
        0.5301388165770426,
        0.2474059038257931,
        0.1934784723493703,
        -0.5888325081002173,
        0.4403071067071998,
        -0.024966407806705435,
        0.09437410710795618,
        0.45815393602007914,
        -0.07543865097532915,
        -0.5553896839483448
      ],
      "qvel": [
        -0.2801108450198978,
        -0.16430225218173164,
        0.090069775593402,
        -0.7591884088757317,
        -0.1434920003793244,
        -7.006311723393674,
        -0.09278645659487172,
        2.5439867335461304,
        6.709231471917702,
        0.487236148570408,
        -1.532139506453846,
        1.3411655417295367,
        -2.786607359378375,
        -0.8373336446299017,
        0.03134211744202212,
        -3.383387939353966,
        2.598793310554585,
        5.310838189000379,
        0.4389002741679908,
        0.9173464000676878
      ],
      "target_rad": [
        0.022744860500097275,
        0.2720733880996704,
        0.262079119682312,
        0.09420108795166016,
        0.5283579230308533,
        0.7249758243560791,
        -0.1982932686805725,
        -0.9957117438316345,
        1.3546723127365112,
        -0.7407832145690918,
        0.33876892924308777,
        1.4956886768341064,
        -0.17562657594680786,
        -0.43768471479415894
      ],
      "policy_call": 121,
      "body_poses": [
        [
          -0.5688309500100057,
          -0.8793803175337495,
          1.323361513137262,
          0.6214336891294625,
          -0.44522526695758635,
          -0.6402271820428896,
          -0.07552342054563822
        ],
        [
          -0.5525565134887602,
          -0.8694107949485567,
          1.321629076893332,
          -0.7585227140274251,
          -0.5138288137236664,
          -0.3575801549629069,
          -0.18099634048372948
        ],
        [
          -0.5419179783782051,
          -0.8708302790475673,
          1.339329546819132,
          -0.9066408391479063,
          0.1753254759422407,
          -0.1216118895362125,
          -0.3639696616453615
        ],
        [
          -0.5259996172945951,
          -0.862916024367296,
          1.3138105273773977,
          -0.37870998608408546,
          0.8210016059556879,
          -0.0052747278759189276,
          0.42720871562294727
        ],
        [
          -0.5035862992376752,
          -0.8982073109867232,
          1.3081387422232527,
          -0.5932087382969917,
          -0.5686630142078856,
          0.05050659893537258,
          0.5676044860147555
        ],
        [
          -0.4593731109621111,
          -0.8943829779472187,
          1.3298313321864748,
          -0.5620336012167758,
          0.4237916232638243,
          -0.7031871157717529,
          -0.10023358402909965
        ],
        [
          -0.5784325180846417,
          -0.8373364884044189,
          1.3321666244313788,
          0.48931873924995695,
          0.5176185519334653,
          0.06119804955530806,
          -0.6992088420806485
        ],
        [
          -0.6158138415717713,
          -0.811654291389473,
          1.3111176004436478,
          -0.509287356064907,
          0.4194954085958658,
          -0.7432021498838093,
          -0.11090786954715184
        ],
        [
          -0.6392088195869201,
          -0.8085862007869367,
          1.3128333543115822,
          -0.5595358400864369,
          0.23728549657855844,
          0.7582297366577935,
          0.23601462501312342
        ],
        [
          -0.6452121562007898,
          -0.8012595587905169,
          1.291834776584582,
          0.13730298152530754,
          0.5300822221350876,
          0.8362250880903448,
          0.02980488364150162
        ],
        [
          -0.5757949816006332,
          -0.890135742171371,
          1.3376118852330772,
          -0.7691922148491668,
          -0.4879660986064315,
          -0.39213862809825956,
          -0.12829543865417176
        ],
        [
          -0.5636311418599023,
          -0.8901623262306684,
          1.3543612224154735,
          0.40952397178001015,
          -0.19573763117649462,
          -0.1898353451755368,
          -0.8705971732098747
        ],
        [
          -0.5817586473163932,
          -0.9152118373815847,
          1.3510197351680024,
          -0.03826637687121898,
          0.3232065268963602,
          0.383909869680403,
          -0.8641101997631541
        ],
        [
          -0.5555550468252461,
          -0.9446975716664638,
          1.3360543190564516,
          -0.3374540213313604,
          -0.005653232727043989,
          -0.8649386070082097,
          -0.3714485570758425
        ],
        [
          -0.5384100481782007,
          -0.9722448079376621,
          1.37329943679303,
          -0.7585866251504829,
          -0.16053475194909325,
          0.4754764352552866,
          -0.4155683879656496
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "trunk_base",
          "position_m": [
            -0.5462349097568179,
            -0.9084033322536939,
            1.2830310364094317
          ],
          "distance_m": -8.629939340849142e-05,
          "contact_frame": [
            -0.2383668860356886,
            0.05578121540981664,
            0.9695719074153565,
            0.013317129174854062,
            0.9984430159039641,
            -0.054168238508711136,
            -0.9710838695561723,
            0.0,
            -0.23873859823625232
          ],
          "force_torque_contact_frame": [
            4.026444901468793,
            -1.1902412925061507,
            -2.8362036089626415,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.6338283311474163,
            -0.8086939890687501,
            1.2556571243407937
          ],
          "distance_m": -2.8954354591592045e-05,
          "contact_frame": [
            -0.23820051432739486,
            0.05659168013116271,
            0.9695658289740293,
            0.013501805216237546,
            0.9983974067173513,
            -0.05495743367344055,
            -0.9711221427967068,
            0.0,
            -0.2385828656252009
          ],
          "force_torque_contact_frame": [
            2.3656894289436123,
            0.7284787743991686,
            1.6372106545444438,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.6337346202782029,
            -0.808934202373409,
            1.255679208066186
          ],
          "distance_m": -5.8233608537127816e-05,
          "contact_frame": [
            -0.23814679546981288,
            0.05726129227098832,
            0.9695397094574907,
            0.013659004596569909,
            0.998359226134289,
            -0.05560833737826036,
            -0.9711331192997641,
            -1.734723475976807e-18,
            -0.23853818268593813
          ],
          "force_torque_contact_frame": [
            2.581122772554449,
            0.8006830346520863,
            1.7804397379023627,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 74,
      "physics_step": 493,
      "sim_time_s": 2.4649999999999697,
      "qpos": [
        -0.5790365487472525,
        -0.8843066226615497,
        1.324126087901007,
        0.6200012223960574,
        -0.3767315419865819,
        -0.6743487696556347,
        -0.13757022339059882,
        0.09779416723679284,
        0.043061401915098114,
        -0.3631566013883132,
        0.07492695890242039,
        0.5061233898544546,
        0.3018412155120559,
        0.12593831084803636,
        -0.6560436756526604,
        0.44156290875715787,
        -0.18478954057424152,
        0.1729342789215851,
        0.6754778491075356,
        -0.07728229269851287,
        -0.5252646022287655
      ],
      "qvel": [
        -0.3539770348124929,
        -0.1699525405908967,
        0.04730324228168797,
        0.906127930541119,
        0.4364909399094775,
        -6.287831396432578,
        -1.0452978183769976,
        2.832458169305275,
        8.516430699399647,
        0.5521260445167692,
        -0.3506746083770972,
        1.9468278270507064,
        -1.6676558362610583,
        -3.3752995375111405,
        0.04814368344909252,
        -6.6468766539415025,
        2.745033616747228,
        8.22972873368366,
        -0.22735121448251794,
        1.0779504193881708
      ],
      "target_rad": [
        -0.10743477195501328,
        0.40626776218414307,
        0.6078671813011169,
        0.1532416194677353,
        0.5338090062141418,
        0.9866966009140015,
        -0.14323118329048157,
        -1.6659765243530273,
        1.6132227182388306,
        -1.3385151624679565,
        0.5392059683799744,
        1.9553558826446533,
        -0.1863660216331482,
        -0.354525089263916
      ],
      "policy_call": 123,
      "body_poses": [
        [
          -0.5790365487472525,
          -0.8843066226615497,
          1.324126087901007,
          0.6200012223960574,
          -0.3767315419865819,
          -0.6743487696556347,
          -0.13757022339059882
        ],
        [
          -0.5631809349626856,
          -0.8736748367321217,
          1.325803776628235,
          -0.7320515418682502,
          -0.5517172715050465,
          -0.31453955945059037,
          -0.24652273305310712
        ],
        [
          -0.5542528889821744,
          -0.8773839033023452,
          1.3441076784021062,
          -0.8990099999837631,
          0.12645058784155375,
          -0.05082929966891851,
          -0.4161822329928168
        ],
        [
          -0.5377860261656453,
          -0.8639865535728839,
          1.3213787662150236,
          -0.5091795134122203,
          0.770734979448748,
          -0.0654990699156815,
          0.3773773793109669
        ],
        [
          -0.5146975512872011,
          -0.8945230127023348,
          1.3036460880181797,
          -0.5204744125934989,
          -0.6299412295479767,
          -0.06965278608858452,
          0.5722140530790323
        ],
        [
          -0.46913590273432676,
          -0.894238743309704,
          1.3227263231335231,
          -0.5924389373069909,
          0.3606326767191643,
          -0.6843000870875672,
          -0.22515232367639915
        ],
        [
          -0.5915766081345353,
          -0.8445349451011493,
          1.338210271826424,
          0.4812103095195146,
          0.593450093888383,
          0.08374533062647915,
          -0.6397189567882637
        ],
        [
          -0.6273304112869932,
          -0.8183926093401098,
          1.3150101890444086,
          -0.5870040452931381,
          0.4400006508511219,
          -0.668732482322132,
          -0.1209237162320129
        ],
        [
          -0.6508257251560584,
          -0.8173194660587736,
          1.312460566071921,
          -0.4951109990203196,
          0.13274467928786893,
          0.8122779051374793,
          0.2782958023314942
        ],
        [
          -0.6529239294940431,
          -0.8077853060889263,
          1.2915953478313797,
          0.19628834140114637,
          0.48604475067292563,
          0.8383737307822196,
          0.14953553058582053
        ],
        [
          -0.586934886057447,
          -0.8974151812557287,
          1.335660036024584,
          -0.7594724521744326,
          -0.5019251974884605,
          -0.38909918820593103,
          -0.14097699192354118
        ],
        [
          -0.5748665275903122,
          -0.8980433021736631,
          1.352466587961885,
          0.4504478269916219,
          -0.19052062942945405,
          -0.1662813762991619,
          -0.8562412912353546
        ],
        [
          -0.5911709900060098,
          -0.9241871756041421,
          1.3482342851151832,
          0.07273343187159595,
          0.33737413301490715,
          0.3848973629419381,
          -0.8560038330877743
        ],
        [
          -0.5585789048729503,
          -0.9491273299239186,
          1.3384493184011297,
          -0.3519914656495969,
          0.1057478766853297,
          -0.8525550427681057,
          -0.3715767669500704
        ],
        [
          -0.5414872052551505,
          -0.9709493748268111,
          1.3793354060157579,
          -0.685891479716447,
          -0.1462077817312172,
          0.49050032638975377,
          -0.5172867603420417
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "trunk_base",
          "position_m": [
            -0.5430376795186939,
            -0.9153853718588062,
            1.284246428460767
          ],
          "distance_m": -5.0925321331996165e-05,
          "contact_frame": [
            -0.238288354371974,
            0.057124142622459476,
            0.9695130182211817,
            0.013634281591211685,
            0.9983670829557879,
            -0.05547318303326967,
            -0.9710987419084572,
            0.0,
            -0.23867809590285388
          ],
          "force_torque_contact_frame": [
            4.487962149245714,
            -0.9041374871895552,
            -3.5838246620561587,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 75,
      "physics_step": 500,
      "sim_time_s": 2.499999999999969,
      "qpos": [
        -0.5932304683073477,
        -0.8926584838166033,
        1.3259773634358782,
        0.603275932915921,
        -0.27130050000239453,
        -0.7191592316042579,
        -0.21275381797103116,
        0.0610604933498895,
        0.11711115884405267,
        -0.10356361580183227,
        0.1255421350396164,
        0.48946799730118074,
        0.39313820004883304,
        0.08669399426700766,
        -0.8562359777687463,
        0.443150115345223,
        -0.5129612339348812,
        0.30197281699827744,
        1.0196775522586008,
        -0.08227190798413657,
        -0.4711055400539788
      ],
      "qvel": [
        -0.45592574419082443,
        -0.2745386684100995,
        -0.00782659081335672,
        1.026022495513113,
        1.2104209647124975,
        -8.014662764124173,
        -1.5161372956918362,
        2.156289367472045,
        7.619398988140831,
        1.4135271680376327,
        -0.09869040344508784,
        3.797365412651743,
        -1.1196666368020678,
        -8.160001144078322,
        0.04518412435753367,
        -11.758072042393396,
        4.3319302637473145,
        11.07399822584886,
        -0.03447915986205558,
        2.1300928452804566
      ],
      "target_rad": [
        -0.3364042043685913,
        0.34138038754463196,
        0.7803996205329895,
        0.08338218927383423,
        0.56407630443573,
        1.2157044410705566,
        -0.06093761324882507,
        -2.8272953033447266,
        1.9840577840805054,
        -2.2475476264953613,
        0.9844574928283691,
        2.288522481918335,
        0.1267695426940918,
        -0.1405213177204132
      ],
      "policy_call": 125,
      "body_poses": [
        [
          -0.5932304683073477,
          -0.8926584838166033,
          1.3259773634358782,
          0.603275932915921,
          -0.27130050000239453,
          -0.7191592316042579,
          -0.21275381797103116
        ],
        [
          -0.5788975930655488,
          -0.8816844903410533,
          1.332410881486029,
          -0.6903674792523733,
          -0.5851806105001467,
          -0.2583983192505341,
          -0.33791523388847056
        ],
        [
          -0.5722028201526514,
          -0.8881698744259382,
          1.3508938414469296,
          -0.8757265810699216,
          0.07754139247660327,
          0.05177780401394874,
          -0.47371863661024505
        ],
        [
          -0.5555205224613254,
          -0.8688316752420461,
          1.3331460247907294,
          -0.6472033044605342,
          0.6937397565423232,
          -0.10057213149292962,
          0.29956348117708353
        ],
        [
          -0.5312169143696833,
          -0.8888644381629373,
          1.305074260900777,
          -0.45383985333691007,
          -0.6835668886933537,
          -0.20333889259474197,
          0.5342461894703273
        ],
        [
          -0.48498314182736896,
          -0.8883089113719596,
          1.3224561384314135,
          -0.6139291737872232,
          0.3108693263421859,
          -0.628291226566143,
          -0.3629068284456842
        ],
        [
          -0.61148729599993,
          -0.8576001689707534,
          1.3453424470923623,
          0.4719676119282766,
          0.6921184808861534,
          0.10152250208334318,
          -0.5365740985896559
        ],
        [
          -0.6438384155850913,
          -0.8309061934846076,
          1.3181241309370295,
          -0.6870690328623351,
          0.44827268387062474,
          -0.5565220488731861,
          -0.13141900203180087
        ],
        [
          -0.6659213015002586,
          -0.8314243095646776,
          1.309653021623883,
          -0.3724436978319956,
          -0.05982888660655161,
          0.855147479339913,
          0.3555685374878428
        ],
        [
          -0.6629686788878091,
          -0.81668008499368,
          1.2922016646133683,
          0.26842655326686854,
          0.3947727031890945,
          0.8008592463745582,
          0.36156073599662286
        ],
        [
          -0.6015396192648917,
          -0.9083637199556575,
          1.3331574447850898,
          -0.7577868291774903,
          -0.48809430399650433,
          -0.41348517349838965,
          -0.12865878605171543
        ],
        [
          -0.5886936520790476,
          -0.9081885847010983,
          1.3493886016971164,
          0.5115021641291421,
          -0.22779539650029682,
          -0.15823818090297426,
          -0.8132868322609161
        ],
        [
          -0.6018773732546852,
          -0.9362589890666251,
          1.347045122506072,
          0.2554140529748938,
          0.33042022451691627,
          0.35301601497257246,
          -0.837237021366121
        ],
        [
          -0.5624121427351119,
          -0.9511346996537332,
          1.3459452593438794,
          -0.3446582562726434,
          0.2896288130904664,
          -0.8260250111412389,
          -0.339129058000086
        ],
        [
          -0.5471334616842684,
          -0.9606142168675095,
          1.3919528745694083,
          -0.5529262161244164,
          -0.1090402012206788,
          0.4710711900707564,
          -0.6785829116072782
        ]
      ],
      "terrain_contacts": []
    },
    {
      "frame": 76,
      "physics_step": 507,
      "sim_time_s": 2.534999999999968,
      "qpos": [
        -0.6082336859265637,
        -0.9016555819029561,
        1.324404727504682,
        0.5850960810668473,
        -0.16343564399466196,
        -0.7516905637691981,
        -0.25673461498717676,
        -0.007452635459341918,
        0.16778272121008106,
        0.09860185239281788,
        0.19570984578054018,
        0.4771862161945285,
        0.5474428121565268,
        0.06802242100026855,
        -1.2656792061191655,
        0.4446969396738248,
        -0.6062717307649758,
        0.4321126349914066,
        1.402338336418258,
        -0.03643547415562909,
        -0.3800077223753458
      ],
      "qvel": [
        -0.41470637460497883,
        -0.23760410106116545,
        -0.034463252269022825,
        3.3148950317821555,
        0.8954117441113145,
        -6.052286599957393,
        -2.271393731560311,
        0.6047399479966346,
        4.447807846804923,
        2.6328742234287343,
        -0.4714594091616676,
        4.491311689686683,
        0.2585730216730112,
        -13.633664826766887,
        0.05391420642415282,
        1.630356518675605,
        0.28829031427074026,
        10.602072158491563,
        2.297179216364737,
        3.071508984140267
      ],
      "target_rad": [
        -0.40025827288627625,
        0.18458077311515808,
        0.8416110873222351,
        0.24011199176311493,
        0.5560603737831116,
        1.4608715772628784,
        0.07127347588539124,
        -3.50597882270813,
        2.2264516353607178,
        -3.211695909500122,
        1.403536081314087,
        2.3211941719055176,
        0.3357013761997223,
        0.017713606357574463
      ],
      "policy_call": 126,
      "body_poses": [
        [
          -0.6082336859265637,
          -0.9016555819029561,
          1.324404727504682,
          0.5850960810668473,
          -0.16343564399466196,
          -0.7516905637691981,
          -0.25673461498717676
        ],
        [
          -0.5962692254651559,
          -0.8906118594836893,
          1.3345110562641076,
          -0.6486374465462005,
          -0.5943948619278361,
          -0.2344031457258738,
          -0.4135448903391618
        ],
        [
          -0.5905770533843197,
          -0.8986298357718473,
          1.3527267427250864,
          -0.8374741390002591,
          0.04883466567539295,
          0.123012953598225,
          -0.5302075585854928
        ],
        [
          -0.5756198964593093,
          -0.8752277037739828,
          1.3387312550710193,
          -0.7318596338421958,
          0.6426290847138489,
          -0.09949975347395419,
          0.2037379073487086
        ],
        [
          -0.5514178960911366,
          -0.8849451425457939,
          1.305567488000539,
          -0.43348200638836554,
          -0.6948869442364298,
          -0.30701757810949626,
          0.4847325980363337
        ],
        [
          -0.5052519219413192,
          -0.8798409557386274,
          1.3223796891602904,
          -0.6026425421670824,
          0.3066424053152639,
          -0.5734481464997565,
          -0.46254688941647865
        ],
        [
          -0.6329220932925257,
          -0.872550092862918,
          1.3463308925073114,
          0.4800334108654618,
          0.7671152313037842,
          0.09430617462609689,
          -0.41498011010409347
        ],
        [
          -0.6600768953581523,
          -0.8464826658748916,
          1.3134203170793344,
          -0.7634647402158969,
          0.46564454036923575,
          -0.431063486453513,
          -0.12033712277572275
        ],
        [
          -0.6789348855899753,
          -0.8482511207633534,
          1.2992453123409244,
          -0.18984456864875282,
          -0.33685571285503463,
          0.8307577728010667,
          0.40041077832909006
        ],
        [
          -0.6748727111454349,
          -0.8277191557203258,
          1.2896225710343103,
          0.32707415503806314,
          0.20297826442052758,
          0.6939985713479265,
          0.6084310184778593
        ],
        [
          -0.6153839468585832,
          -0.9191281884254499,
          1.327695895977147,
          -0.7417576714978987,
          -0.4988120861573834,
          -0.39929511556706476,
          -0.20382705944407797
        ],
        [
          -0.6038542192897102,
          -0.9194252979087411,
          1.3448853435582215,
          0.6046133234504011,
          -0.17183120813995187,
          -0.13816365335947395,
          -0.7653937352146207
        ],
        [
          -0.6108754264901989,
          -0.949133337238706,
          1.338936810241759,
          0.46760653488918047,
          0.3904757504329662,
          0.363970565377769,
          -0.7045553522551179
        ],
        [
          -0.5706224187806591,
          -0.9480307155281382,
          1.3515257132960015,
          -0.3970413088148762,
          0.4803636352112881,
          -0.6959201777711264,
          -0.35679697761075696
        ],
        [
          -0.5667029364883233,
          -0.9546790344741996,
          1.4003154408393226,
          -0.30676654026621314,
          -0.0727272404230406,
          0.5288257110221194,
          -0.7880027954490374
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7180382859053326,
            -0.8910690002232295,
            1.2499529489989252
          ],
          "distance_m": -0.0015052446496169527,
          "contact_frame": [
            -0.1869484774517325,
            0.14688940051818145,
            0.9713257799491828,
            0.027761885100958773,
            0.9891529224621487,
            -0.14424206640308468,
            -0.981977364563013,
            0.0,
            -0.18899855948096478
          ],
          "force_torque_contact_frame": [
            1.4740466643786954,
            0.801170361191124,
            -0.6728763031875714,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7200546843826147,
            -0.8922847734726347,
            1.2498908868377432
          ],
          "distance_m": -0.001644316921416083,
          "contact_frame": [
            -0.08365477203837206,
            0.14891581175584495,
            0.9853050086771639,
            0.012597987382966237,
            0.9888498778930488,
            -0.1483819723039186,
            -0.9964151593733942,
            1.734723475976807e-18,
            -0.08459805063293936
          ],
          "force_torque_contact_frame": [
            13.653059830859757,
            5.144476362155788,
            -0.6862893474119147,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.6914299456756569,
            -0.8406112823655987,
            1.2457542675267488
          ],
          "distance_m": -0.0024126997305804598,
          "contact_frame": [
            -0.14329589808157542,
            0.14798642386165475,
            0.9785531686861135,
            0.021441936256652264,
            0.9889893924368647,
            -0.14642481011402061,
            -0.9894475877794439,
            6.938893903907228e-18,
            -0.14489123864968367
          ],
          "force_torque_contact_frame": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7116320261108321,
            -0.8886001641256526,
            1.250974059490711
          ],
          "distance_m": -0.0006106241256760754,
          "contact_frame": [
            -0.14623889419713834,
            0.14616098887113674,
            0.9783921254569712,
            0.021606457069742957,
            0.9892608176473036,
            -0.1445551648357191,
            -0.9890133198480654,
            -3.469446951953614e-18,
            -0.14782642917661398
          ],
          "force_torque_contact_frame": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7204826809331825,
            -0.8933253327943917,
            1.2501454042040292
          ],
          "distance_m": -0.0013812594809537637,
          "contact_frame": [
            -0.08338217075729513,
            0.14833419713981758,
            0.9854158409314755,
            0.012506786289596193,
            0.98893729121663,
            -0.14780600237412764,
            -0.9964391571473431,
            0.0,
            -0.08431492218754848
          ],
          "force_torque_contact_frame": [
            15.264990726124534,
            6.197102767198615,
            1.0674208319085268,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 77,
      "physics_step": 513,
      "sim_time_s": 2.5649999999999675,
      "qpos": [
        -0.6195173921542672,
        -0.9046335890724823,
        1.3298949199521977,
        0.624720674024414,
        -0.16515098716338097,
        -0.7194143534628216,
        -0.25473951188835026,
        -0.015357032400152737,
        0.22288402265958132,
        0.1777080465978519,
        0.29647575965613404,
        0.4461551217637564,
        0.6278674788668734,
        0.08943945799841263,
        -1.5951532302605615,
        0.4449126974475646,
        -0.5633015463867888,
        0.4109940357557279,
        1.6286671761623253,
        0.023479404674218184,
        -0.30147849784316844
      ],
      "qvel": [
        -0.361954267446642,
        -0.06267639131906624,
        0.28904118639292825,
        -0.30764446136647483,
        1.8998432113312458,
        2.2184948230696317,
        0.7796160660129078,
        2.5520812409572384,
        1.476713599118234,
        3.7373268872564704,
        -1.3880412352643785,
        1.2649055694528806,
        0.5936447965828549,
        -9.555737678062913,
        -0.007929336024063451,
        1.0558847382146905,
        -0.7664145069241934,
        1.9632691044162751,
        1.5516992441769166,
        2.1027253294523893
      ],
      "target_rad": [
        -0.08187428116798401,
        0.6057881116867065,
        0.8895640969276428,
        0.29965487122535706,
        0.5534890294075012,
        0.9192581176757812,
        -0.29515987634658813,
        -2.2796518802642822,
        1.9178115129470825,
        -2.4371654987335205,
        0.7384078502655029,
        1.9482288360595703,
        0.1027197539806366,
        -0.212723970413208
      ],
      "policy_call": 128,
      "body_poses": [
        [
          -0.6195173921542672,
          -0.9046335890724823,
          1.3298949199521977,
          0.624720674024414,
          -0.16515098716338097,
          -0.7194143534628216,
          -0.25473951188835026
        ],
        [
          -0.6067048014877399,
          -0.8937077499938124,
          1.3390444314604166,
          -0.6284730722457638,
          -0.6198451242562996,
          -0.26638348561111214,
          -0.3871091034725736
        ],
        [
          -0.5991003857521373,
          -0.9019926898152262,
          1.356423517554791,
          -0.8258290929983378,
          0.015556703927814646,
          0.084157870161813,
          -0.5573883305293305
        ],
        [
          -0.5870962683739948,
          -0.8776515807552574,
          1.3412359708239168,
          -0.7393801671377677,
          0.6472289584821483,
          -0.1423579395347379,
          0.11893637289267645
        ],
        [
          -0.5683687213741577,
          -0.8844774501935463,
          1.3040514663336007,
          -0.4355442027130413,
          -0.665062261513602,
          -0.3442689074894104,
          0.499472076426224
        ],
        [
          -0.5213862611354112,
          -0.8765829148434052,
          1.3171023184712958,
          -0.5724195378272144,
          0.3142527553025005,
          -0.5834520660956213,
          -0.48287137528250434
        ],
        [
          -0.6421587233315486,
          -0.8763301427808275,
          1.354868680437677,
          0.48498951602723317,
          0.7555149689307603,
          0.09636989650114097,
          -0.42976172946597196
        ],
        [
          -0.6702826065857134,
          -0.8507803415416245,
          1.3223686058632498,
          -0.7504514355873486,
          0.4652922197830579,
          -0.4510134421270254,
          -0.13004871416117833
        ],
        [
          -0.6898375677171652,
          -0.852640691500838,
          1.3091843508298147,
          -0.1426660114875105,
          -0.4567134200311855,
          0.7628488369586806,
          0.43488034340546244
        ],
        [
          -0.6890496465751802,
          -0.8302156026743946,
          1.3039733459938794,
          0.288635121429956,
          0.12620805261256984,
          0.6279239121513683,
          0.7116690626136414
        ],
        [
          -0.62616151360324,
          -0.9222560552703417,
          1.3334381296943103,
          -0.7097687321230046,
          -0.524655143141562,
          -0.4241522371103802,
          -0.20263318442414902
        ],
        [
          -0.6133799886634875,
          -0.9233556341815263,
          1.3496838536373228,
          0.6119913558373888,
          -0.1800515498218459,
          -0.09617850680401108,
          -0.7640665642573417
        ],
        [
          -0.6209446949612077,
          -0.9526659269653127,
          1.3425471908627513,
          0.5198564692062116,
          0.423340394110061,
          0.3526345514434873,
          -0.6528254248016399
        ],
        [
          -0.5830112224197759,
          -0.948241318006117,
          1.3604769254094937,
          -0.4191714923530387,
          0.5121568460253761,
          -0.6588832589407091,
          -0.35758002762394003
        ],
        [
          -0.5826425069430026,
          -0.9559007459523391,
          1.4092744377685662,
          -0.22692227044842017,
          -0.03942190415110489,
          0.5495581221582593,
          -0.8030803614941185
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.715569319630389,
            -0.8930150118869196,
            1.249046213498473
          ],
          "distance_m": -0.0045618966385087304,
          "contact_frame": [
            -0.1432967390100027,
            0.14798082977463867,
            0.9785538915196794,
            0.021441233401988283,
            0.9889902294862217,
            -0.1464192592898627,
            -0.9894474812233849,
            0.0,
            -0.14489196630834772
          ],
          "force_torque_contact_frame": [
            0.5376441444376832,
            -0.24074253676796806,
            0.2969016076697151,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.719201480159721,
            -0.8911601237619939,
            1.2483764506529975
          ],
          "distance_m": -0.004436230268916364,
          "contact_frame": [
            -0.0836825621681705,
            0.14899136079274494,
            0.9852912276063847,
            0.012608710969337031,
            0.9888384976370642,
            -0.14845688262443618,
            -0.9964126902025396,
            1.734723475976807e-18,
            -0.08462712805795787
          ],
          "force_torque_contact_frame": [
            1.0494192283575663,
            0.49804111609989216,
            -0.5513781122576741,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7119769035260243,
            -0.8944843251191112,
            1.2499658408480256
          ],
          "distance_m": -0.004227641510891547,
          "contact_frame": [
            -0.12044112983220615,
            0.14844538671971227,
            0.9815589138744434,
            0.018079237065548898,
            0.9889206071073832,
            -0.14734033400767294,
            -0.9925558298815588,
            0.0,
            -0.12179049457215722
          ],
          "force_torque_contact_frame": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.715754790459851,
            -0.8929380587853866,
            1.2490053319859278
          ],
          "distance_m": -0.004565975868610424,
          "contact_frame": [
            -0.14329963565833398,
            0.1479813619215687,
            0.9785533868645219,
            0.021441745653934204,
            0.9889901498618869,
            -0.14641972209874698,
            -0.9894470506113506,
            3.469446951953614e-18,
            -0.14489490686873457
          ],
          "force_torque_contact_frame": [
            0.5464159566437405,
            -0.2114283914882068,
            0.3349875651555337,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 78,
      "physics_step": 520,
      "sim_time_s": 2.599999999999967,
      "qpos": [
        -0.6327574033989362,
        -0.906515729912274,
        1.3361741860254541,
        0.6576001202179086,
        -0.18818580690367362,
        -0.6878286916942059,
        -0.24298122324913157,
        -0.002149208796659149,
        0.3236145459994741,
        0.2906107670869375,
        0.3809455390181131,
        0.43148325565052575,
        0.673855227333827,
        0.05251139556267325,
        -1.8704730466697492,
        0.44456603534343264,
        -0.5424300819367243,
        0.39395254689836867,
        1.6040558390154112,
        0.05616375284368692,
        -0.24778946091712867
      ],
      "qvel": [
        -0.36258764034112256,
        -0.05038406161942057,
        0.12301545298292695,
        -0.34623966205772133,
        1.7569829713763088,
        1.3158342060136596,
        0.5592904596865742,
        3.0356441253883877,
        3.1437310769243405,
        2.280805231158255,
        -0.19615450480600372,
        0.9901476740795264,
        -1.9112037073661599,
        -6.266629891183172,
        -0.0011767571504789614,
        0.338734675021983,
        -0.2890180178452888,
        -0.9939304855719916,
        0.6380998855071317,
        1.1017703612020502
      ],
      "target_rad": [
        -0.10242365300655365,
        0.5523763298988342,
        0.9305277466773987,
        0.3528764843940735,
        0.5814433097839355,
        1.0311899185180664,
        -0.4025194048881531,
        -2.4330568313598633,
        1.9230544567108154,
        -2.736340045928955,
        0.923228919506073,
        2.079821825027466,
        0.08416556566953659,
        -0.16347944736480713
      ],
      "policy_call": 130,
      "body_poses": [
        [
          -0.6327574033989362,
          -0.906515729912274,
          1.3361741860254541,
          0.6576001202179086,
          -0.18818580690367362,
          -0.6878286916942059,
          -0.24298122324913157
        ],
        [
          -0.6189544327144851,
          -0.895594555231786,
          1.343754155938485,
          -0.6198150933198869,
          -0.6364917550131801,
          -0.2938639800358221,
          -0.352635019716717
        ],
        [
          -0.6098300421345475,
          -0.9038391828591098,
          1.3604056307029468,
          -0.8030924767377128,
          -0.0049431620762336445,
          0.04291431257623757,
          -0.5942864635275522
        ],
        [
          -0.6014144633135258,
          -0.8788959312657071,
          1.343844766200893,
          -0.7328690652357649,
          0.6552819418416875,
          -0.18221899136180209,
          0.017457064579479653
        ],
        [
          -0.5896771633991481,
          -0.8834987871442649,
          1.303582496109762,
          -0.44057407589504305,
          -0.6167388201088283,
          -0.3962764737579638,
          0.5181627811469616
        ],
        [
          -0.5424322948651891,
          -0.8711961276187139,
          1.311103597479063,
          -0.5176098532656934,
          0.3194365414227672,
          -0.6004652197426474,
          -0.5191164182392454
        ],
        [
          -0.6524061657800068,
          -0.8774712612385286,
          1.362777731627536,
          0.49458115351454557,
          0.7309067026823256,
          0.09567570028277497,
          -0.4604465603494876
        ],
        [
          -0.6821719859370028,
          -0.8528476969421663,
          1.3310338183255455,
          -0.728143043958288,
          0.48232273387117236,
          -0.47327194374956466,
          -0.11483098530321689
        ],
        [
          -0.702219611954822,
          -0.8551057646141375,
          1.3186776130404079,
          -0.10698038476749949,
          -0.5383409039941607,
          0.7120693302487181,
          0.4378373411221239
        ],
        [
          -0.704149179975115,
          -0.8323342817438455,
          1.3157799700080344,
          0.2651624841404806,
          0.05836065986564419,
          0.5805736252096773,
          0.7676048176603574
        ],
        [
          -0.6392001182428958,
          -0.9239827911377718,
          1.3407176646029466,
          -0.6914430978121998,
          -0.5349858460470107,
          -0.4530650477487932,
          -0.17443809654320974
        ],
        [
          -0.6250169637120802,
          -0.9252038734560699,
          1.3557458742610178,
          0.6048501223823748,
          -0.21486044375997143,
          -0.06993507339872679,
          -0.7636101129961613
        ],
        [
          -0.6339219963613998,
          -0.9543304182408741,
          1.3494534357501262,
          0.48858453033102667,
          0.39426074292782626,
          0.37173730125453075,
          -0.6838530559727055
        ],
        [
          -0.5941661698635571,
          -0.9513111668692706,
          1.3632505102602714,
          -0.3836675887718663,
          0.46919054301284707,
          -0.6973020004196947,
          -0.38266086275445693
        ],
        [
          -0.5875983275433878,
          -0.9593973766877211,
          1.411535877174373,
          -0.2619942207770707,
          -0.06625755786795393,
          0.5378104597192006,
          -0.7985792845556499
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.5372973690774542,
            -0.9013026613327031,
            1.2848270190118454
          ],
          "distance_m": -5.243383125379837e-05,
          "contact_frame": [
            -0.23830001277296994,
            0.057110660623449674,
            0.9695109470014021,
            0.013631720109786867,
            0.9983678542717372,
            -0.05545992935169749,
            -0.9710959170541551,
            0.0,
            -0.23868958896598147
          ],
          "force_torque_contact_frame": [
            4.647554157592286,
            -0.06541321471521334,
            -4.582140942877073,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7180873167756897,
            -0.8908132647859488,
            1.2500980417009397
          ],
          "distance_m": -0.001130273118008985,
          "contact_frame": [
            -0.16220986928129758,
            0.14754219707853455,
            0.975663496493019,
            0.02419762507264575,
            0.9890557618664577,
            -0.1455444085480607,
            -0.9864595446588716,
            0.0,
            -0.1640047766115731
          ],
          "force_torque_contact_frame": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7237196605459316,
            -0.8890473277581291,
            1.2492655831191113
          ],
          "distance_m": -0.001298562496653631,
          "contact_frame": [
            -0.08376165290852867,
            0.1490089182872327,
            0.985281851945371,
            0.012622148831029441,
            0.9888358520355482,
            -0.14847336154347193,
            -0.9964058745616259,
            1.734723475976807e-18,
            -0.08470733816548295
          ],
          "force_torque_contact_frame": [
            3.8805772945934405,
            -0.4518643455872017,
            1.6020777437524694,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7117774916104161,
            -0.8933933523145909,
            1.2516615750783717
          ],
          "distance_m": -0.0006420378797455185,
          "contact_frame": [
            -0.14329560920427153,
            0.14798582884580955,
            0.9785533009722033,
            0.021441804888068756,
            0.9889894814712737,
            -0.14642422798950736,
            -0.9894476324626377,
            0.0,
            -0.14489093351235377
          ],
          "force_torque_contact_frame": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7155426829606882,
            -0.8918163436446525,
            1.2506416438358008
          ],
          "distance_m": -0.0010923314017143367,
          "contact_frame": [
            -0.1433128789821243,
            0.1479626826969573,
            0.9785542719987352,
            0.021440959871700232,
            0.9889929446306073,
            -0.14640095870813352,
            -0.9894451495447513,
            0.0,
            -0.14490788813023556
          ],
          "force_torque_contact_frame": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 79,
      "physics_step": 527,
      "sim_time_s": 2.634999999999966,
      "qpos": [
        -0.6450935881333,
        -0.9078696667683035,
        1.338217085617061,
        0.6839828790174278,
        -0.1905608552847602,
        -0.6609152729163719,
        -0.24299173580607902,
        0.01778437922440422,
        0.4027757584224783,
        0.3938555871507441,
        0.45124951904969485,
        0.43443038435372433,
        0.7079242895547384,
        -0.03322195787206511,
        -2.0516340508409043,
        0.44461214184756165,
        -0.5360870061297646,
        0.3889182859117806,
        1.5829417331983435,
        0.07476711423127186,
        -0.21648643774079385
      ],
      "qvel": [
        -0.3491941233603385,
        -0.0239946080135418,
        -0.0016047963342010717,
        -0.06045552485739025,
        2.546713694214186,
        0.6216159581518436,
        0.3647201422277312,
        0.5539160778594079,
        3.0024215055749663,
        1.5589791690311943,
        0.30944895417391355,
        1.1669094397850932,
        -2.8366534024900787,
        -4.762585172718569,
        -0.005763587794838824,
        0.10275988536219227,
        -0.07763645982163589,
        -0.358283842023453,
        0.5300035396984255,
        0.6947695063943705
      ],
      "target_rad": [
        -0.10747873038053513,
        0.49519699811935425,
        0.8498209118843079,
        0.3711893856525421,
        0.5607023239135742,
        0.9875022172927856,
        -0.3854638338088989,
        -2.5662403106689453,
        1.8829580545425415,
        -2.7651150226593018,
        0.9271611571311951,
        2.066277503967285,
        0.14598646759986877,
        -0.1930922269821167
      ],
      "policy_call": 131,
      "body_poses": [
        [
          -0.6450935881333,
          -0.9078696667683035,
          1.338217085617061,
          0.683982879017427,
          -0.19056085528475997,
          -0.6609152729163711,
          -0.24299173580607875
        ],
        [
          -0.6307611988965816,
          -0.8970996759879958,
          1.3449876038660051,
          -0.5991033192352468,
          -0.6582169175823885,
          -0.30598701257955113,
          -0.3379314285802524
        ],
        [
          -0.6206520988485091,
          -0.9059388650967659,
          1.3607411695613474,
          -0.7800145010070457,
          -0.03643656616864819,
          0.030492757458521987,
          -0.6239550838058315
        ],
        [
          -0.6151257361367861,
          -0.879904172040709,
          1.3446506732155108,
          -0.7359205285895039,
          0.6397506098478875,
          -0.21023696989007973,
          -0.07028904104651307
        ],
        [
          -0.6094911834335088,
          -0.8812929876546888,
          1.3028616328887175,
          -0.43047435191988304,
          -0.5862779189304843,
          -0.4503307400847001,
          0.5178535108005572
        ],
        [
          -0.5628810743058649,
          -0.865441774409616,
          1.3068911199241036,
          -0.4754499336789001,
          0.3087556274599807,
          -0.5984566724676899,
          -0.5660979899764905
        ],
        [
          -0.6627157873712886,
          -0.8793632085148548,
          1.36675203951769,
          0.4915430509876383,
          0.7204706321725448,
          0.1057291593549178,
          -0.47762835140385035
        ],
        [
          -0.693810752507964,
          -0.8546425311260683,
          1.3363877306569818,
          -0.7221274207388747,
          0.4994087477627556,
          -0.4693978224246809,
          -0.09374740091343427
        ],
        [
          -0.7135780881384628,
          -0.8573370666765646,
          1.3236726251580753,
          -0.07175684144875286,
          -0.6009309479951549,
          0.6749177141039157,
          0.422159958588789
        ],
        [
          -0.7175518979548079,
          -0.8347205884901305,
          1.321838572272777,
          0.2565011803454021,
          -0.006890944375997132,
          0.5428567897403144,
          0.7996662836457857
        ],
        [
          -0.6512114725664067,
          -0.9254245863614121,
          1.3428696427787348,
          -0.6686697674235483,
          -0.5494776595309461,
          -0.4742909066547798,
          -0.16125501441728302
        ],
        [
          -0.6360257872693734,
          -0.9270196721306666,
          1.356846432948448,
          0.6073744419739703,
          -0.23346409399830215,
          -0.03992030836498685,
          -0.7582856803543134
        ],
        [
          -0.6455084059324415,
          -0.955948472811603,
          1.3504860528927058,
          0.4619566643910431,
          0.3735347211212684,
          0.39898967122525525,
          -0.6984805613595266
        ],
        [
          -0.6046722740493955,
          -0.9538149904935179,
          1.3608715943055978,
          -0.35836155923835555,
          0.43552829634968904,
          -0.7152581054774253,
          -0.4126717078839251
        ],
        [
          -0.5933760598011389,
          -0.963534771162271,
          1.4079664072621094,
          -0.2845499433688746,
          -0.09707765493062084,
          0.5378632489218355,
          -0.7875978568414139
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.5572870805327496,
            -0.8941180388191314,
            1.2792491493371159
          ],
          "distance_m": -0.0005203111859933053,
          "contact_frame": [
            -0.23829638239086665,
            0.057113560117961225,
            0.969511668516722,
            0.01363220677075413,
            0.998367688404754,
            -0.05546279552914167,
            -0.9710968010852397,
            -1.734723475976807e-18,
            -0.2386859923037268
          ],
          "force_torque_contact_frame": [
            5.741255239291442,
            0.0,
            -5.741255239291442,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7367313841408321,
            -0.8858617536925679,
            1.2481729206717462
          ],
          "distance_m": -0.0003254567968650294,
          "contact_frame": [
            -0.0834138419662931,
            0.14920830702373822,
            0.9852811842735719,
            0.012586939039701922,
            0.9888057853365895,
            -0.1486764535846243,
            -0.9964354971266495,
            1.734723475976807e-18,
            -0.08435816537814754
          ],
          "force_torque_contact_frame": [
            5.705891139248464,
            -1.1554621404746732,
            0.6580257108906373,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 80,
      "physics_step": 533,
      "sim_time_s": 2.6649999999999654,
      "qpos": [
        -0.6549007005613495,
        -0.9085209719099422,
        1.3383433143668528,
        0.7094848254261776,
        -0.17792008454332925,
        -0.6365938719148903,
        -0.24438487728681021,
        0.03309854784097972,
        0.39585130841698246,
        0.4491741809798906,
        0.5072971952067798,
        0.4370346717292006,
        0.7397059015928871,
        -0.1081423711928841,
        -2.1879058251099908,
        0.444812628170484,
        -0.5343933150865801,
        0.3881868770819778,
        1.5767743904551352,
        0.10268492048424703,
        -0.1924430900524598
      ],
      "qvel": [
        -0.3157949183017685,
        -0.022948579926856536,
        -0.0073527069116562475,
        0.6483720270401155,
        2.5619565002007603,
        0.08852296286768813,
        0.39059893788909233,
        -0.34742702629308414,
        1.2967732677137749,
        1.8593223328272597,
        -0.04486346158630444,
        1.147120664886601,
        -2.2627625781866283,
        -4.703060257651587,
        0.00772698173014906,
        0.03249184333710323,
        -0.0033976114467494083,
        -0.13398637324739196,
        1.2940170525724555,
        0.8923588591018538
      ],
      "target_rad": [
        -0.22957652807235718,
        0.3791733384132385,
        0.800981342792511,
        0.38047581911087036,
        0.4924660921096802,
        1.0815188884735107,
        -0.3401523232460022,
        -2.9748477935791016,
        1.8401893377304077,
        -3.064469814300537,
        1.1140596866607666,
        2.059015989303589,
        0.3567406237125397,
        -0.11777576804161072
      ],
      "policy_call": 133,
      "body_poses": [
        [
          -0.6549007005613495,
          -0.9085209719099422,
          1.3383433143668528,
          0.7094848254261776,
          -0.17792008454332925,
          -0.6365938719148903,
          -0.24438487728681021
        ],
        [
          -0.640365925220041,
          -0.8977588047472741,
          1.3446809845807783,
          -0.5705022705834893,
          -0.6798377728737687,
          -0.317668519577463,
          -0.33381802453219955
        ],
        [
          -0.6293194764778247,
          -0.9072332003727034,
          1.3594021189704384,
          -0.776278426497483,
          -0.07355701382358162,
          0.026398768968131633,
          -0.6255271978650621
        ],
        [
          -0.6248627423538826,
          -0.8803274144345394,
          1.3444533329328303,
          -0.7435584734595431,
          0.612540087825475,
          -0.24143308230298727,
          -0.11672833470478544
        ],
        [
          -0.6236836395296624,
          -0.8789300237879606,
          1.3023029130022914,
          -0.40554460246007784,
          -0.5817026956331282,
          -0.477626089603144,
          0.5186799281243288
        ],
        [
          -0.5770591851409106,
          -0.8628028472570567,
          1.3047675488967518,
          -0.46432881278399724,
          0.28346001809849475,
          -0.594260641943552,
          -0.5923710502675176
        ],
        [
          -0.6712337258833543,
          -0.8815243384699571,
          1.3690323633744033,
          0.4854045286762829,
          0.7166927103475577,
          0.12527519340273616,
          -0.4848093732521418
        ],
        [
          -0.7037449742053964,
          -0.8566554815241109,
          1.340317233446967,
          -0.7224157487880523,
          0.5108965603514726,
          -0.4578672181687755,
          -0.08635856095616087
        ],
        [
          -0.7231357188291108,
          -0.8598495641846576,
          1.3271460965747952,
          -0.043743949484207456,
          -0.6542294104381772,
          0.6336583035415919,
          0.41054536869148783
        ],
        [
          -0.7292201780325348,
          -0.8376511834642383,
          1.3262126890575847,
          0.24078351668055692,
          -0.06241095402183762,
          0.5052056364702394,
          0.8263748760651716
        ],
        [
          -0.6604314390457054,
          -0.9263622380161465,
          1.3426270225204588,
          -0.6411434825330949,
          -0.563720939047753,
          -0.49528919697043905,
          -0.16075555682100715
        ],
        [
          -0.6444145832429049,
          -0.9282469562245342,
          1.3556042397671286,
          0.61950818692009,
          -0.24266851957899238,
          -0.008092769675754834,
          -0.746495882790587
        ],
        [
          -0.6537977510462668,
          -0.9570577038389748,
          1.3485937487806887,
          0.44586956967800345,
          0.3575504177118693,
          0.4312691862125951,
          -0.6981152588596995
        ],
        [
          -0.6124051755578691,
          -0.9547063060157531,
          1.3564120930506887,
          -0.3349465669057818,
          0.40945482221137797,
          -0.7200773127834552,
          -0.4490503418331144
        ],
        [
          -0.5968926646925601,
          -0.9665198957909584,
          1.4017971247602383,
          -0.29536085712968574,
          -0.13357035178552587,
          0.5440536492904878,
          -0.7739034512736135
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.571627309074105,
            -0.8907560521574487,
            1.275665113085067
          ],
          "distance_m": -0.0002512721054498453,
          "contact_frame": [
            -0.23850382032282602,
            0.05710765650478761,
            0.9694610065701189,
            0.013642658708811853,
            0.9983680261148848,
            -0.05545414587588281,
            -0.9710457278392054,
            1.734723475976807e-18,
            -0.23889368858391383
          ],
          "force_torque_contact_frame": [
            4.258621717837945,
            0.0,
            -4.258621717837945,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7417047331420309,
            -0.8854043213632068,
            1.247768276951367
          ],
          "distance_m": -0.00015444418439910745,
          "contact_frame": [
            -0.08356597276305598,
            0.1490754387296061,
            0.9852884053736447,
            0.01259841089174996,
            0.9888258256981234,
            -0.14854213703669128,
            -0.9964226052429596,
            3.469446951953614e-18,
            -0.0845103056486792
          ],
          "force_torque_contact_frame": [
            4.693525075064583,
            -1.7210913874721014,
            1.2130109946618934,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 81,
      "physics_step": 540,
      "sim_time_s": 2.6999999999999647,
      "qpos": [
        -0.6652363464181181,
        -0.9096685276897158,
        1.3375668550330895,
        0.7421748826832946,
        -0.15511709210936633,
        -0.6065055989186141,
        -0.2393033424963917,
        0.034133589776188765,
        0.3856999318708799,
        0.4744781532380543,
        0.5635252136673146,
        0.4252847995556865,
        0.7841654202217556,
        -0.17206486983167416,
        -2.358775995983641,
        0.444802079125096,
        -0.5337384396786834,
        0.3883498604546419,
        1.574298001661193,
        0.16834517110578884,
        -0.15927727345594594
      ],
      "qvel": [
        -0.2839554573975682,
        -0.04003189449984794,
        -0.03665132971338364,
        1.2459147056029074,
        2.9369711919299664,
        0.2512536636617806,
        -0.4211724204365648,
        -0.3449582926841582,
        0.663770130332652,
        1.3068314443522129,
        -0.5475629369303008,
        1.5752698100108478,
        -1.4856372352535578,
        -5.05251373588661,
        -0.003258344841447277,
        0.012442833484497385,
        0.0125426330741668,
        -0.034273077655841484,
        2.265506495563983,
        1.1255955341469237
      ],
      "target_rad": [
        -0.4603461027145386,
        0.17285391688346863,
        0.9547192454338074,
        0.35343697667121887,
        0.3307962417602539,
        1.4162646532058716,
        -0.2796440124511719,
        -3.34244704246521,
        1.7775654792785645,
        -3.521987199783325,
        1.4712936878204346,
        2.102602243423462,
        0.5615029335021973,
        0.08422046899795532
      ],
      "policy_call": 135,
      "body_poses": [
        [
          -0.6652363464181181,
          -0.9096685276897158,
          1.3375668550330895,
          0.7421748826832946,
          -0.15511709210936633,
          -0.6065055989186141,
          -0.2393033424963917
        ],
        [
          -0.6506986451372371,
          -0.8986199215700328,
          1.3433835159549563,
          -0.5330230254367289,
          -0.699977219501785,
          -0.34368814118973773,
          -0.32832424238604224
        ],
        [
          -0.6382095224409531,
          -0.9083527344642679,
          1.3567174638865696,
          -0.7646279021215171,
          -0.11794809386591368,
          0.011963415255642379,
          -0.6334739893208448
        ],
        [
          -0.6357072144359466,
          -0.8805873912998837,
          1.3429307248373212,
          -0.7455649291895262,
          0.5884683859536588,
          -0.2642732450891221,
          -0.16732467548385271
        ],
        [
          -0.6388549649674783,
          -0.8768098463919355,
          1.3010281866627706,
          -0.3878588275004601,
          -0.5722379148223384,
          -0.5063678302409642,
          0.5154618504475454
        ],
        [
          -0.5925955495062475,
          -0.85952108410298,
          1.3021076215617944,
          -0.45248356127554556,
          0.27033807160689927,
          -0.5857070226458808,
          -0.6157298412766425
        ],
        [
          -0.6802445019402512,
          -0.8849941282308024,
          1.370783310915911,
          0.48239173945679215,
          0.7113125618476939,
          0.15507819570535394,
          -0.48711744197707874
        ],
        [
          -0.7147735518231472,
          -0.8606692319387401,
          1.3440243099150349,
          -0.7220070692780829,
          0.5224638311289653,
          -0.44386567533037113,
          -0.09338414928686273
        ],
        [
          -0.733843125101344,
          -0.8646489205981365,
          1.3306006203785565,
          -0.014498122175046702,
          -0.7188797763138401,
          0.5647870645082276,
          0.40499042386770007
        ],
        [
          -0.7431321707942212,
          -0.8435723987163198,
          1.3309928645384135,
          0.20424157858951086,
          -0.12613673370780648,
          0.448484616184761,
          0.8609508993144717
        ],
        [
          -0.6697165471869071,
          -0.927927003430424,
          1.3412824794351672,
          -0.603656434696157,
          -0.5756708124209751,
          -0.5260159331640837,
          -0.165859165058843
        ],
        [
          -0.65270244538676,
          -0.9297774769459307,
          1.3529270527507782,
          0.6409444421741813,
          -0.2537017382825833,
          0.0297232960061002,
          -0.7238385011264294
        ],
        [
          -0.6614432603806254,
          -0.9585720053200009,
          1.3450706356947733,
          0.4334081773905507,
          0.3332666892604077,
          0.47365093606576936,
          -0.6904675635860292
        ],
        [
          -0.6196887854447432,
          -0.9548617868058881,
          1.349845464049417,
          -0.2922654223840975,
          0.3738238940245904,
          -0.7244610416369662,
          -0.49999281823364
        ],
        [
          -0.5978934432394065,
          -0.9689048250706426,
          1.3918901561573027,
          -0.3089344565215459,
          -0.1909872090261718,
          0.5467502001782587,
          -0.7544187207162634
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.5881715062733429,
            -0.8858738865331482,
            1.2713497657779476
          ],
          "distance_m": -0.00017621279265796064,
          "contact_frame": [
            -0.23830004089684384,
            0.05710860089102959,
            0.9695110614185027,
            0.013631228473147045,
            0.9983679720945926,
            -0.0554579291539431,
            -0.9710959170539621,
            0.0,
            -0.23868958896676787
          ],
          "force_torque_contact_frame": [
            5.168408397517645,
            0.0,
            -5.168408397517645,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7462344876545827,
            -0.8852434705896853,
            1.2473865709325416
          ],
          "distance_m": -0.0001008317077345217,
          "contact_frame": [
            -0.08367179353431752,
            0.14897932370776382,
            0.985293962264221,
            0.012606046772800172,
            0.9888403112270339,
            -0.14844502846907556,
            -0.9964136282445721,
            1.734723475976807e-18,
            -0.08461608268223886
          ],
          "force_torque_contact_frame": [
            4.785667958477046,
            -2.5085416619339567,
            2.089202429624864,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 82,
      "physics_step": 547,
      "sim_time_s": 2.734999999999964,
      "qpos": [
        -0.6747965092361806,
        -0.911795474415086,
        1.3370905632600607,
        0.7779009926369637,
        -0.11893811469572735,
        -0.575139422795571,
        -0.22346904679044302,
        0.0023408933757118793,
        0.35468450264297285,
        0.4863956093099531,
        0.6090211260263325,
        0.3785512872315318,
        0.8579325461538372,
        -0.19126603572974266,
        -2.553059717665454,
        0.444749356225568,
        -0.5335453085480796,
        0.3894643108700377,
        1.5735409008406678,
        0.2740324132251228,
        -0.10156962272170768
      ],
      "qvel": [
        -0.2618510975949941,
        -0.0825854533983396,
        0.019688552946669553,
        2.7369461338843073,
        2.685599252542376,
        -0.049965661485840085,
        -1.1007557065733875,
        -1.2731636480775659,
        -0.1630378532504113,
        1.5277916592156977,
        -2.0394047461717406,
        2.370988381155676,
        0.18036903533615345,
        -5.900552796408932,
        0.003742601151246378,
        -0.00020052974960650866,
        0.0414934959747801,
        -0.022819828610132212,
        3.5824138181717293,
        1.9778572984872897
      ],
      "target_rad": [
        -0.5403479337692261,
        0.06441998481750488,
        0.9848790764808655,
        0.33402907848358154,
        0.22835466265678406,
        1.567842721939087,
        -0.22994250059127808,
        -3.606761932373047,
        1.701980471611023,
        -3.748373508453369,
        1.630127191543579,
        2.091600179672241,
        0.6811392903327942,
        0.15043461322784424
      ],
      "policy_call": 136,
      "body_poses": [
        [
          -0.6747965092361806,
          -0.911795474415086,
          1.3370905632600607,
          0.7779009926369637,
          -0.11893811469572735,
          -0.575139422795571,
          -0.22346904679044302
        ],
        [
          -0.6606784713562385,
          -0.9000140874620424,
          1.3424877780865403,
          -0.49040903109091827,
          -0.7085339251883519,
          -0.3912135555884912,
          -0.3231572573925321
        ],
        [
          -0.6462405161616336,
          -0.9090531667566332,
          1.3542496017251042,
          -0.74537092111057,
          -0.16030812423296062,
          -0.020158617995453685,
          -0.6467744006902271
        ],
        [
          -0.6465689179547031,
          -0.8808485610675874,
          1.3411483662800117,
          -0.7337444205833213,
          0.5739763232408004,
          -0.2861706432288462,
          -0.2242245940475881
        ],
        [
          -0.6545601216163468,
          -0.8761131536311205,
          1.29999356747284,
          -0.3765057323239451,
          -0.5468078368507079,
          -0.5381995288660231,
          0.519216612036103
        ],
        [
          -0.609192244292759,
          -0.856637710592569,
          1.298424228247557,
          -0.43578136562457576,
          0.2720923128913939,
          -0.580782429100994,
          -0.6314682451931684
        ],
        [
          -0.6888565003485981,
          -0.8903029204304043,
          1.372836757958018,
          0.489905392459276,
          0.7073433536064863,
          0.18886281054851828,
          -0.47327468275808465
        ],
        [
          -0.7254015676468556,
          -0.8678705659073006,
          1.3471220243075286,
          -0.7221452544740614,
          0.5328585696145438,
          -0.42433237407577723,
          -0.12045751342340263
        ],
        [
          -0.7441321143132225,
          -0.8729768565250999,
          1.3336026158398615,
          0.016362801550431655,
          -0.7869550047475338,
          0.4630216897830709,
          0.4074861887458995
        ],
        [
          -0.7574923862205447,
          -0.854325851878134,
          1.3356770218322527,
          0.14435626796229378,
          -0.1920614618691685,
          0.3672366638043207,
          0.8985604573552897
        ],
        [
          -0.6776354667931876,
          -0.9305281591619861,
          1.3399675134095714,
          -0.5584654066404291,
          -0.5796784613280708,
          -0.5648373665855713,
          -0.18179114490793177
        ],
        [
          -0.6596602036070638,
          -0.931733837147206,
          1.3501624265521899,
          0.6736974014149014,
          -0.2628327669277315,
          0.06712776954778765,
          -0.6874188028498057
        ],
        [
          -0.6668710406310965,
          -0.9606158389366847,
          1.3411577720865597,
          0.42983117570885104,
          0.30094624454953217,
          0.5234300104192464,
          -0.6713401093877728
        ],
        [
          -0.6252494547992584,
          -0.9539568636985437,
          1.3429750574331036,
          -0.2266315581164784,
          0.3341058444631298,
          -0.7237580167290852,
          -0.5596300159763202
        ],
        [
          -0.5957471342818191,
          -0.9692976721906178,
          1.379502754854318,
          -0.31314233102852707,
          -0.26338463041390525,
          0.5433011636078922,
          -0.7330717990770482
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6043980746904444,
            -0.882421109801995,
            1.2671831989099802
          ],
          "distance_m": -0.00012731353011528266,
          "contact_frame": [
            -0.23830001277429344,
            0.05711066062211056,
            0.9695109470011557,
            0.013631720109541898,
            0.998367854271814,
            -0.05545992935037873,
            -0.9710959170538338,
            0.0,
            -0.23868958896728887
          ],
          "force_torque_contact_frame": [
            3.198876408514147,
            0.0,
            -3.198876408514147,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 83,
      "physics_step": 553,
      "sim_time_s": 2.7649999999999633,
      "qpos": [
        -0.6827853620464738,
        -0.9149144698736768,
        1.3376706374900695,
        0.8109282281065401,
        -0.07605528633589131,
        -0.5463178593551075,
        -0.19531461499336175,
        -0.06267128289415987,
        0.28819635493412643,
        0.5046384539483005,
        0.6412950055923718,
        0.3007645678729929,
        0.9630997062610465,
        -0.16175590847365579,
        -2.7855351188261843,
        0.44471776781509564,
        -0.5334484027697016,
        0.3910430958528667,
        1.573505404391156,
        0.39776377851088845,
        -0.019401466794128082
      ],
      "qvel": [
        -0.24736691735256708,
        -0.13418255927748732,
        0.08909368395594713,
        4.1226452354374565,
        2.865496149213059,
        0.5435307614772275,
        -2.2417731195283963,
        -2.6767137160273475,
        -0.14824587683218948,
        1.6713706972137121,
        -3.406945805791548,
        3.6800928435344367,
        1.7148240231406717,
        -8.64142896311394,
        0.004902101135693884,
        -0.0025254746582419854,
        0.057750364996850434,
        -0.02346498656158926,
        4.678065934070663,
        3.1339506540964193
      ],
      "target_rad": [
        -0.7188551425933838,
        -0.20393361151218414,
        1.002023458480835,
        0.2807512581348419,
        -0.00742378830909729,
        1.8807146549224854,
        -0.1305226981639862,
        -4.425806045532227,
        1.5065760612487793,
        -4.331099510192871,
        1.9590773582458496,
        2.0179049968719482,
        0.9722286462783813,
        0.2798982858657837
      ],
      "policy_call": 138,
      "body_poses": [
        [
          -0.6827853620464738,
          -0.9149144698736768,
          1.3376706374900695,
          0.8109282281065401,
          -0.07605528633589131,
          -0.5463178593551075,
          -0.19531461499336175
        ],
        [
          -0.6695452180709052,
          -0.9020379187537532,
          1.3427836619142441,
          -0.4502864308873673,
          -0.6975335217707297,
          -0.45738318287420754,
          -0.31857454416305375
        ],
        [
          -0.6530464912931383,
          -0.9091528106655391,
          1.3530632692898301,
          -0.7244282028286968,
          -0.18711282675599528,
          -0.07202965451080219,
          -0.6595485561206382
        ],
        [
          -0.656552961135416,
          -0.8813315663880583,
          1.3396121341668028,
          -0.7015479725309346,
          0.5739115593124583,
          -0.31527105883129614,
          -0.2811763215291605
        ],
        [
          -0.6699450226616034,
          -0.8779917407189859,
          1.2997436110315146,
          -0.37173421710725,
          -0.5011139218311818,
          -0.5657866372564018,
          0.539058429375447
        ],
        [
          -0.6261865942396403,
          -0.8559482606977866,
          1.2934758418434453,
          -0.41069433422501056,
          0.28677914085519673,
          -0.5886663255354591,
          -0.6344760400412376
        ],
        [
          -0.6962547943212293,
          -0.89684574892829,
          1.3754793584396536,
          0.5104574739572806,
          0.7054461567146726,
          0.2176561594670308,
          -0.44091346487004823
        ],
        [
          -0.7341160217904903,
          -0.8776398525755686,
          1.3490660852648009,
          -0.7207245662171351,
          0.5444101852663301,
          -0.3982324276108603,
          -0.15995181595893948
        ],
        [
          -0.7523295013590499,
          -0.8842098425171908,
          1.335472469786105,
          0.05280596930351682,
          -0.8506083244224848,
          0.3242487826859868,
          0.41053591189534644
        ],
        [
          -0.7700622712647613,
          -0.8699490336637433,
          1.3390555135084903,
          0.0633922602923346,
          -0.26118844686112985,
          0.25583795619198857,
          0.9286059211165976
        ],
        [
          -0.683540772782753,
          -0.9339626643750784,
          1.3396316680498233,
          -0.5121674650722599,
          -0.5716269002183302,
          -0.6074496496968296,
          -0.20477328378339976
        ],
        [
          -0.6648387667266044,
          -0.9338388959553929,
          1.348504077579036,
          0.7122720644815317,
          -0.2711417162075399,
          0.09656091227094923,
          -0.6401770584085684
        ],
        [
          -0.6697634853462933,
          -0.9628054840805256,
          1.3383092789588662,
          0.4362459956824296,
          0.26172185645335144,
          0.5715772947663913,
          -0.64380936403037
        ],
        [
          -0.6289971136763342,
          -0.9519553084197988,
          1.3376948577612144,
          -0.14363436098721738,
          0.30044716339774397,
          -0.7173092554598701,
          -0.6120196928054265
        ],
        [
          -0.5921084923452754,
          -0.96630878481579,
          1.367244939514798,
          -0.30173328708013114,
          -0.3363661540759225,
          0.5310901471784499,
          -0.7167692023447736
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6216150067450802,
            -0.8833627927253855,
            1.2632724807590692
          ],
          "distance_m": -0.0007892727605986053,
          "contact_frame": [
            -0.14328969970002972,
            0.1479859567856832,
            0.9785541469709795,
            0.021440939580635133,
            0.9889894623271909,
            -0.14642448400344,
            -0.9894485070329709,
            3.469446951953614e-18,
            -0.14488496102158135
          ],
          "force_torque_contact_frame": [
            2.2784839014228098,
            0.0,
            -2.2784839014228098,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 84,
      "physics_step": 560,
      "sim_time_s": 2.7999999999999625,
      "qpos": [
        -0.687978043549105,
        -0.9208285243971895,
        1.3366836442933756,
        0.8190436001042025,
        0.028103417872853906,
        -0.548650206544823,
        -0.16541079133639694,
        -0.20588325404261246,
        0.1512445724273708,
        0.5703209035205932,
        0.6455855142260801,
        0.17077847581085673,
        1.032932545376954,
        -0.013397512375692526,
        -2.9489241302220934,
        0.4393585964297538,
        -0.5333373888859528,
        0.39225680769787413,
        1.5734177716334818,
        0.5772202800934924,
        0.10273860362329547
      ],
      "qvel": [
        -0.04863156354811782,
        -0.18763840387039665,
        -0.009106275034252858,
        5.843597999689788,
        2.2095264768058547,
        -1.7936701827146644,
        -5.543131237369705,
        -5.0634305771843335,
        3.7503118713646115,
        -0.7598026349233341,
        -4.04335445305785,
        2.31189779986057,
        4.330813595327439,
        -4.194864063894522,
        -0.34783309942315477,
        0.006094455380450505,
        0.028870239612504,
        0.006476381245293107,
        5.024855626239781,
        4.1991055261781005
      ],
      "target_rad": [
        -0.738179624080658,
        -0.5481647849082947,
        0.9764637351036072,
        0.27163442969322205,
        -0.31294798851013184,
        2.3525147438049316,
        0.06567087769508362,
        -5.4499664306640625,
        1.2984126806259155,
        -4.977555751800537,
        2.264981508255005,
        1.8216960430145264,
        1.192964792251587,
        0.46558213233947754
      ],
      "policy_call": 140,
      "body_poses": [
        [
          -0.687978043549105,
          -0.9208285243971895,
          1.3366836442933756,
          0.8190436001042025,
          0.028103417872853906,
          -0.548650206544823,
          -0.16541079133639694
        ],
        [
          -0.6771763167675224,
          -0.906801911572173,
          1.3440203214154196,
          -0.4080418111487821,
          -0.6449348596484593,
          -0.5312741058741784,
          -0.36784335197504214
        ],
        [
          -0.6594720136731423,
          -0.9101865203370205,
          1.354198831888531,
          -0.6944062455735873,
          -0.1757607515030241,
          -0.1025773956817362,
          -0.6902072168810163
        ],
        [
          -0.6659414636539885,
          -0.8834246171453667,
          1.3397351962976474,
          -0.6609037273916798,
          0.5894945348101619,
          -0.3200238092911255,
          -0.3365816662201479
        ],
        [
          -0.682953064439109,
          -0.8831105417242506,
          1.3011281026519514,
          -0.3847138076424145,
          -0.4412279194923492,
          -0.5961534013793763,
          0.5494673159465693
        ],
        [
          -0.6424204030890934,
          -0.8569643493365209,
          1.290475404049777,
          -0.3887770829560391,
          0.3364505238008757,
          -0.5802758741481229,
          -0.6316116961266154
        ],
        [
          -0.7050117841478943,
          -0.9105994410554663,
          1.3759598609830115,
          0.5118235711443238,
          0.7348647856705863,
          0.2715590841098755,
          -0.3525138899955561
        ],
        [
          -0.7430101967675751,
          -0.8941702114696186,
          1.347920584002319,
          -0.736667392305755,
          0.5141734745133847,
          -0.34907742511592094,
          -0.2666303480377096
        ],
        [
          -0.7605455591223071,
          -0.9017025489138712,
          1.3339399921935238,
          0.11472118597555611,
          -0.8747696279769305,
          0.14310239439262115,
          0.44848506349326966
        ],
        [
          -0.781412888079922,
          -0.8942915000816554,
          1.3402875064614241,
          -0.02597331211647902,
          -0.28981131657023756,
          0.08527257614229879,
          0.9529235937910132
        ],
        [
          -0.6855804960483407,
          -0.9398313743331062,
          1.3360563801587306,
          -0.4625421192580995,
          -0.549714063879618,
          -0.6292913448754409,
          -0.2964146405797783
        ],
        [
          -0.6673388102891868,
          -0.937896300148991,
          1.3456478549445106,
          0.7815089474549869,
          -0.21885480176930178,
          0.10632732404438267,
          -0.5744918110398769
        ],
        [
          -0.6671326910500481,
          -0.9655765908751227,
          1.3314700899522391,
          0.4781603842005037,
          0.2522959896901374,
          0.6274648972354429,
          -0.5603545157351858
        ],
        [
          -0.6287630011782915,
          -0.9482202128517259,
          1.3340242875687445,
          -0.06327198708199225,
          0.29889568197488664,
          -0.6732725359171836,
          -0.673321705670556
        ],
        [
          -0.5863537366358011,
          -0.9594513195961609,
          1.35672487175198,
          -0.2290781076990524,
          -0.40405731143213475,
          0.5423127812938263,
          -0.7001126744293442
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6344582026353801,
            -0.8851098878595414,
            1.261714698252227
          ],
          "distance_m": -0.0006743626737117636,
          "contact_frame": [
            -0.14330450533350939,
            0.1479775481241536,
            0.9785532504684056,
            0.021441909306795535,
            0.9889907205081166,
            -0.14641584365810736,
            -0.9894463417873641,
            6.938893903907228e-18,
            -0.14489974714816675
          ],
          "force_torque_contact_frame": [
            4.974958348647391,
            0.8377013362238537,
            -4.137257012423538,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7686895629288568,
            -0.9084828985785309,
            1.2490046871115494
          ],
          "distance_m": -8.087713013047565e-05,
          "contact_frame": [
            -0.08357237548716305,
            0.14908231234885896,
            0.9852868223010749,
            0.012599970307775186,
            0.9888247894064537,
            -0.1485489030707596,
            -0.9964220485334897,
            0.0,
            -0.08451686930030117
          ],
          "force_torque_contact_frame": [
            7.834419708291206,
            -3.473836200782341,
            -4.360583507508864,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 85,
      "physics_step": 567,
      "sim_time_s": 2.8349999999999618,
      "qpos": [
        -0.6853502423991386,
        -0.9272446876739568,
        1.337203006743851,
        0.8192856897014844,
        0.16422735022108245,
        -0.5293000211105616,
        -0.14711160301649534,
        -0.3283718163179833,
        -0.030022629825217004,
        0.6563296728241321,
        0.617157381425065,
        0.010929363530240783,
        1.0613459963549867,
        0.09099033977788744,
        -2.999012000637799,
        0.43856346401295637,
        -0.5332866884356491,
        0.39291740464054004,
        1.5725000086134822,
        0.7639374497377185,
        0.2390252599679395
      ],
      "qvel": [
        0.1428042721657706,
        -0.16436730182826934,
        -0.04701754885144341,
        5.966439139392877,
        3.0491897866729216,
        -4.294469306328301,
        0.2975340088147431,
        -4.372741006750291,
        1.8292387592907549,
        -0.9695158430175372,
        -4.347891346750692,
        -0.01749427127041235,
        1.2527276283153381,
        0.33238539952364765,
        0.09038418972453925,
        -0.0025120347395140626,
        0.008745868611677568,
        -0.013457341294925377,
        4.974827418080353,
        3.751634936628759
      ],
      "target_rad": [
        -0.8172194957733154,
        -0.6046055555343628,
        1.0924243927001953,
        0.2859528362751007,
        -0.3130146861076355,
        2.451061725616455,
        0.17751087248325348,
        -5.621683120727539,
        1.2735462188720703,
        -5.145572185516357,
        2.3487777709960938,
        1.8675925731658936,
        1.1050384044647217,
        0.5593799948692322
      ],
      "policy_call": 141,
      "body_poses": [
        [
          -0.6853502423991386,
          -0.9272446876739568,
          1.337203006743851,
          0.8192856897014844,
          0.16422735022108245,
          -0.5293000211105616,
          -0.14711160301649534
        ],
        [
          -0.6772177384241149,
          -0.9133687175143902,
          1.3476226915388454,
          -0.3348289225260058,
          -0.5964690293222498,
          -0.5805993129095941,
          -0.441609247580203
        ],
        [
          -0.659223829702295,
          -0.9136278469377394,
          1.357852652479766,
          -0.6693028324574009,
          -0.1835113804853702,
          -0.10104684608963732,
          -0.7128441811449326
        ],
        [
          -0.6674841948090451,
          -0.886965874021613,
          1.344135671451751,
          -0.6403522986484804,
          0.5763221021102329,
          -0.32352550929571655,
          -0.3913221346535294
        ],
        [
          -0.687952585285744,
          -0.8870561423918967,
          1.3072434266389898,
          -0.3635547491874286,
          -0.3893273123428056,
          -0.6415670840357345,
          0.5519455271030616
        ],
        [
          -0.6510700359343294,
          -0.8576046930184538,
          1.292673262496332,
          -0.3858155566701393,
          0.3605331291839407,
          -0.5539239869392247,
          -0.6436850438572409
        ],
        [
          -0.7037550575292574,
          -0.9286174432060119,
          1.3771627613042252,
          0.4675099363988845,
          0.764489969818106,
          0.3577294767327358,
          -0.26271499175407576
        ],
        [
          -0.7433853041249011,
          -0.9132710351215286,
          1.3508201852405035,
          -0.7474295820459431,
          0.4550780509065762,
          -0.2837052609788983,
          -0.39212792856234113
        ],
        [
          -0.7601440359698507,
          -0.9211593712005963,
          1.3361028129049692,
          0.17215884059337766,
          -0.8536024134737067,
          -0.015904741096707767,
          0.49139728583708364
        ],
        [
          -0.7816339931786987,
          -0.9206389759025149,
          1.344383569385848,
          -0.09903984080859775,
          -0.2789118729263131,
          -0.07408373480676489,
          0.9523186847428876
        ],
        [
          -0.6795698008082206,
          -0.9449658462731997,
          1.3327536210655277,
          -0.3782400523669851,
          -0.5339583481063532,
          -0.6385603711312301,
          -0.40504764867074516
        ],
        [
          -0.6619285486640967,
          -0.941871551492216,
          1.3431320391817831,
          0.8496537774583457,
          -0.14044912864071102,
          0.14022208047773851,
          -0.48856961516381914
        ],
        [
          -0.6567937713922075,
          -0.9654925266343176,
          1.3235633500150479,
          0.5020226663854472,
          0.24675451159062015,
          0.6997379899938023,
          -0.4443559370643678
        ],
        [
          -0.6221782338436339,
          -0.9425040822431937,
          1.3308638204868386,
          0.03185440597161843,
          0.30021039387844395,
          -0.599460320435353,
          -0.7412869487931697
        ],
        [
          -0.5752689265176912,
          -0.9480136469811725,
          1.3453262401529344,
          -0.1342435864390024,
          -0.48298361235121035,
          0.5632476132493308,
          -0.6568543338283616
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7640137919225709,
            -0.9337212203084084,
            1.252897949231986
          ],
          "distance_m": -0.0007124357953748008,
          "contact_frame": [
            -0.08356357066811419,
            0.14852391655343347,
            0.985371897239222,
            0.012550387454302397,
            0.9889088159237074,
            -0.14799270780385826,
            -0.996423412727713,
            0.0,
            -0.08450078442273792
          ],
          "force_torque_contact_frame": [
            4.469306740019759,
            0.5816723456403133,
            -2.4633048904892436,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 86,
      "physics_step": 573,
      "sim_time_s": 2.864999999999961,
      "qpos": [
        -0.6793660134480729,
        -0.9313977406899714,
        1.3330395044809438,
        0.8249875147568293,
        0.26346094585128554,
        -0.47700734101335884,
        -0.14982632320743922,
        -0.27731768533632734,
        -0.1297471719164168,
        0.6911169069574217,
        0.571697191481453,
        -0.10379871919319622,
        1.0574356597654997,
        0.10593865436652619,
        -2.986815141191822,
        0.439962515545239,
        -0.5333071899206414,
        0.3929987507466315,
        1.5721302261349468,
        0.8891207279953433,
        0.32826353191810687
      ],
      "qvel": [
        0.23834925309873148,
        -0.1183811411370031,
        -0.20080243217691174,
        3.942562404130871,
        4.608890418013373,
        -4.156021824459428,
        1.9373462944987108,
        -2.704496580922749,
        0.6610801627139237,
        -2.0570426669337816,
        -3.414790908336509,
        -0.14418978608949587,
        0.16896300933217726,
        0.3302839261829829,
        0.013700121758492015,
        0.00017409771818070274,
        -0.005617363792833949,
        -0.01348900075996333,
        3.49904927258858,
        2.2117699684490155
      ],
      "target_rad": [
        -0.6788569092750549,
        -0.4232286214828491,
        0.7498435378074646,
        -0.02430771291255951,
        -0.3065457344055176,
        1.900003433227539,
        0.26803869009017944,
        -4.781311988830566,
        0.8527830243110657,
        -4.112464904785156,
        1.9900658130645752,
        1.6886003017425537,
        0.9855866432189941,
        0.2861248254776001
      ],
      "policy_call": 143,
      "body_poses": [
        [
          -0.6793660134480729,
          -0.9313977406899714,
          1.3330395044809438,
          0.8249875147568293,
          0.26346094585128554,
          -0.47700734101335884,
          -0.14982632320743922
        ],
        [
          -0.672108214330527,
          -0.9186453210551563,
          1.3453663104511426,
          -0.221918831724716,
          -0.6166964264151672,
          -0.5681002061936539,
          -0.4976943896563692
        ],
        [
          -0.6533666310769051,
          -0.9192226958815035,
          1.3541366978688942,
          -0.6405995811012003,
          -0.2753352779880179,
          -0.06777646222097242,
          -0.7136028395102103
        ],
        [
          -0.6629339756977002,
          -0.8906964243746267,
          1.346264738086039,
          -0.6642462960134149,
          0.4936848432168708,
          -0.321267509554929,
          -0.46026005813535925
        ],
        [
          -0.6879105171628214,
          -0.8848498745465171,
          1.312768602249819,
          -0.27945893731071575,
          -0.3625958832413628,
          -0.7222095875427862,
          0.5184980612064601
        ],
        [
          -0.6544606877561272,
          -0.8517350833053311,
          1.2977846270190694,
          -0.3995730496379264,
          0.30598029291726014,
          -0.503302689704675,
          -0.7024271071686746
        ],
        [
          -0.6945020694539433,
          -0.9419836458948415,
          1.372992502889457,
          0.40004913155542826,
          0.7709477725927973,
          0.4409759391786904,
          -0.22614253324269323
        ],
        [
          -0.7375458236647745,
          -0.9274335545541196,
          1.3521231457979175,
          -0.7465192047782747,
          0.3875150267945082,
          -0.24700578334955337,
          -0.48117494105318487
        ],
        [
          -0.754493761923341,
          -0.9348467348400101,
          1.3373754634565225,
          0.21328667281359165,
          -0.8122846905111897,
          -0.10309218185871812,
          0.5329862838768519
        ],
        [
          -0.7750362356614018,
          -0.9384835570007877,
          1.347144818465527,
          -0.13153204266335955,
          -0.24155135087612578,
          -0.17522709466871833,
          0.9453294303768827
        ],
        [
          -0.6719634571855941,
          -0.9472151492571262,
          1.32514889316112,
          -0.2836319792138488,
          -0.5391362895130831,
          -0.6421716187753665,
          -0.46529622149413974
        ],
        [
          -0.6540684055720847,
          -0.9438046167938874,
          1.3349792235760667,
          0.8816142339153525,
          -0.0873896643282554,
          0.20161033193027203,
          -0.4176992496825974
        ],
        [
          -0.6477514450439067,
          -0.9628327949972627,
          1.311203722657137,
          0.48107346563888875,
          0.2340749494352135,
          0.7657994901807534,
          -0.35683102379696174
        ],
        [
          -0.6155147481424171,
          -0.9373342330088782,
          1.3207231550885377,
          0.11801768586166564,
          0.2808539260502148,
          -0.529037929744153,
          -0.7920301553211575
        ],
        [
          -0.5664967529411249,
          -0.9370666832622072,
          1.3268194296541345,
          -0.07956054950614201,
          -0.5569784746973592,
          0.5753389608204913,
          -0.5936583005804599
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7600008352854251,
            -0.9390132310939507,
            1.2540767392000316
          ],
          "distance_m": -0.000637999419918635,
          "contact_frame": [
            -0.08365060250416176,
            0.14900774992847943,
            0.9852914630513869,
            0.012605313424212101,
            0.9888360280962925,
            -0.14847361924673905,
            -0.9964154167686127,
            1.734723475976807e-18,
            -0.08459501891856219
          ],
          "force_torque_contact_frame": [
            4.002171178806453,
            0.07954189429392322,
            -2.3553152807033606,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 87,
      "physics_step": 580,
      "sim_time_s": 2.8999999999999604,
      "qpos": [
        -0.6690196683972904,
        -0.934447476487901,
        1.3220997645978259,
        0.8375336763276674,
        0.35260374711429576,
        -0.38458414291856036,
        -0.16218192116760147,
        -0.2240189505356477,
        -0.19012402873951312,
        0.6930621586457181,
        0.46744034419414127,
        -0.19901770468334284,
        1.0535476951055607,
        0.11076471516635697,
        -2.979730729264499,
        0.43948002409373216,
        -0.5333068391623619,
        0.3923321339397933,
        1.569504041777782,
        0.9658628156359836,
        0.35991612546088575
      ],
      "qvel": [
        0.3384819734722906,
        -0.0631222611527948,
        -0.3980269651306789,
        2.127585762075719,
        5.669830425122045,
        -4.605992713018403,
        1.0800860379892816,
        -1.0227402706309752,
        -0.3515619714587825,
        -3.593626550770384,
        -2.22719536311347,
        -0.08612409727252449,
        0.26656991215659226,
        0.13540590297407318,
        -0.0245315413533405,
        -0.0003294980809804601,
        -0.025516773284618106,
        -0.1684595460278016,
        1.2022782498617817,
        0.012848250007185341
      ],
      "target_rad": [
        -0.6969911456108093,
        -0.3106153607368469,
        0.3827609419822693,
        -0.16344591975212097,
        -0.30325454473495483,
        1.4013975858688354,
        0.3921484351158142,
        -3.9983112812042236,
        0.4985840320587158,
        -3.2526023387908936,
        1.585557222366333,
        1.30355703830719,
        0.7841689586639404,
        0.11020815372467041
      ],
      "policy_call": 145,
      "body_poses": [
        [
          -0.6690196683972904,
          -0.934447476487901,
          1.3220997645978259,
          0.8375336763276683,
          0.35260374711429615,
          -0.3845841429185608,
          -0.16218192116760163
        ],
        [
          -0.661309337039964,
          -0.9231474241109784,
          1.3355202566394402,
          -0.08073707587944937,
          -0.6490979726490592,
          -0.553567932994167,
          -0.5154763719530533
        ],
        [
          -0.6413429755886899,
          -0.923496255423105,
          1.340972112022038,
          -0.5854931562576412,
          -0.3975206841595165,
          -0.06496032377537765,
          -0.7035305437405066
        ],
        [
          -0.6530566944894541,
          -0.8946888553555271,
          1.340556791831829,
          -0.6640129454943711,
          0.3913110031845708,
          -0.32440958788328983,
          -0.5483802752579343
        ],
        [
          -0.6840642405763142,
          -0.884451961996815,
          1.3138408979773535,
          -0.16322996460606432,
          -0.27808870373672967,
          -0.8150464961768155,
          0.48137496879109126
        ],
        [
          -0.6583820206087375,
          -0.8456503574373891,
          1.2972620240363724,
          -0.3576835790065853,
          0.21024453573135393,
          -0.4627776108662005,
          -0.7833878830982249
        ],
        [
          -0.6766660777252946,
          -0.9535354715218514,
          1.3610174280968401,
          0.3083332619302358,
          0.7572980157206324,
          0.533094572418692,
          -0.21734877922543078
        ],
        [
          -0.7237388097212193,
          -0.9414613938773321,
          1.349254156805487,
          -0.7266279743755373,
          0.29582938675570586,
          -0.2340830326509537,
          -0.574196738593645
        ],
        [
          -0.7419328840490673,
          -0.9484981101543055,
          1.335869752784384,
          0.25741872851003644,
          -0.7400624992381628,
          -0.18126138963423133,
          0.5942957210526653
        ],
        [
          -0.7601203467711782,
          -0.9563765691452559,
          1.3476088363797818,
          -0.15311114298903264,
          -0.16820895366776015,
          -0.2802674575201725,
          0.932583979089158
        ],
        [
          -0.6613252277956533,
          -0.9476031576486924,
          1.3104819490964728,
          -0.15917154531535022,
          -0.5560867915115166,
          -0.6469413534803448,
          -0.4968891069699253
        ],
        [
          -0.6425810818507826,
          -0.943631867754757,
          1.3183168613088534,
          0.891876802105951,
          -0.049364188988714794,
          0.295959239623263,
          -0.33841849120928424
        ],
        [
          -0.6380716317645307,
          -0.957376878972505,
          1.2907852517201717,
          0.42120008680229876,
          0.20384950211505504,
          0.8400588112263436,
          -0.27447597535333024
        ],
        [
          -0.6075634309257713,
          -0.9298803662390949,
          1.3004388703936705,
          0.20956751578699223,
          0.24557015004257582,
          -0.43868197544062915,
          -0.8386506317641704
        ],
        [
          -0.5588283685049956,
          -0.9225226957402228,
          1.297158874102037,
          -0.04774396806284752,
          -0.6496134535069622,
          0.5703120083378318,
          -0.5004668697147092
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7571434697466284,
            -0.9417957907272012,
            1.2548585692542613
          ],
          "distance_m": -0.0004046267231132433,
          "contact_frame": [
            -0.08359305179475551,
            0.14721182035947925,
            0.9855662746046496,
            0.012441434889802634,
            0.9891049893446339,
            -0.14668514154962792,
            -0.9964223062484711,
            1.734723475976807e-18,
            -0.08451383088274886
          ],
          "force_torque_contact_frame": [
            3.6304003327613934,
            0.21500399327419234,
            -2.5720652973226,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 88,
      "physics_step": 587,
      "sim_time_s": 2.9349999999999596,
      "qpos": [
        -0.6628308205566218,
        -0.9381263800628649,
        1.3164274979510004,
        0.8255141495040208,
        0.42048418527712145,
        -0.33166151186135695,
        -0.1781013207427954,
        -0.2211634849612738,
        -0.21153224239700966,
        0.6666264069116835,
        0.3152892780539883,
        -0.25902532855735866,
        1.0511339369733734,
        0.14405739196832107,
        -2.9768123387985908,
        0.4384753955293241,
        -0.5339133749762017,
        0.3928506459132929,
        1.5807131833022257,
        0.9283502176500703,
        0.34590000108584673
      ],
      "qvel": [
        0.08858607525422284,
        -0.12971402718342373,
        -0.027226078239253926,
        3.166645007151205,
        1.0449022080515713,
        -2.6778539732128803,
        -0.7722534031851537,
        -0.5639845456329018,
        -0.6072828198695749,
        -4.789954426677279,
        -1.6530965248532234,
        0.00444467906119804,
        1.3958526857028002,
        0.011557658071138122,
        -0.00650532412646862,
        -0.01277214803039179,
        0.046655222179795126,
        -0.034290094508226815,
        -1.4173516540911193,
        0.10226175731382581
      ],
      "target_rad": [
        -1.1527842283248901,
        -0.5052063465118408,
        0.7209115624427795,
        -0.3236909508705139,
        -0.44448190927505493,
        1.9552500247955322,
        0.4646793603897095,
        -4.648138046264648,
        0.7159255743026733,
        -4.264184474945068,
        2.236366033554077,
        1.8837251663208008,
        1.049393892288208,
        0.5210246443748474
      ],
      "policy_call": 146,
      "body_poses": [
        [
          -0.6628308205566218,
          -0.9381263800628649,
          1.3164274979510004,
          0.8255141495040208,
          0.42048418527712145,
          -0.33166151186135695,
          -0.1781013207427954
        ],
        [
          -0.6547798173370095,
          -0.9284821661891993,
          1.330898865748026,
          0.003730679328190857,
          -0.6548086225630925,
          -0.5333098154906772,
          -0.5355300090098367
        ],
        [
          -0.6344727618843934,
          -0.9283947107572181,
          1.3349133209279713,
          -0.5375963844751793,
          -0.46322123442627183,
          -0.04759788518370861,
          -0.7029585028306113
        ],
        [
          -0.6472884816405416,
          -0.9004209269816603,
          1.3394382240661844,
          -0.6718989920092038,
          0.33325254638389495,
          -0.2981709004588421,
          -0.5904139217406963
        ],
        [
          -0.6800624242065998,
          -0.8876504475764418,
          1.316140489651705,
          -0.09459346822862505,
          -0.19703409300933716,
          -0.8724760286908753,
          0.4370528816061814
        ],
        [
          -0.6619630782542434,
          -0.844159082971405,
          1.3012772840456233,
          -0.3080649904622109,
          0.15024701795727685,
          -0.4211757105374578,
          -0.8397218682991
        ],
        [
          -0.6665902570347174,
          -0.9632485958217252,
          1.3523739104977683,
          0.23761659834950022,
          0.7538372212965088,
          0.5813040870998178,
          -0.1932701588394301
        ],
        [
          -0.7150035425800697,
          -0.9526862047707392,
          1.3456963601991758,
          -0.7100481829668172,
          0.2230915082297857,
          -0.20986943813896702,
          -0.6340477708789106
        ],
        [
          -0.7338048375289449,
          -0.9593363974737753,
          1.3329696861298093,
          0.2940524835323602,
          -0.68227526716571,
          -0.24461997146640307,
          0.6230526994582292
        ],
        [
          -0.7500789469218289,
          -0.970472081912198,
          1.344878082140873,
          -0.16662321081477136,
          -0.1237143465875917,
          -0.3626739907941237,
          0.9085147453220808
        ],
        [
          -0.6553094891171106,
          -0.9488852740529049,
          1.3024659158956564,
          -0.07971743567781137,
          -0.5637620405841405,
          -0.628781403254009,
          -0.5295766601421172
        ],
        [
          -0.6362876900361215,
          -0.9449273263239719,
          1.3096077510588,
          0.8921338953730342,
          -0.0020001860047654946,
          0.34937999306393697,
          -0.28640309430787514
        ],
        [
          -0.6330462095998698,
          -0.954101437118462,
          1.2800683113939753,
          0.38479142460405036,
          0.20545365437800822,
          0.8768749458271115,
          -0.2020264458792655
        ],
        [
          -0.6033321079169999,
          -0.9267219595130634,
          1.2922106856117936,
          0.20884921944203827,
          0.25363281208518507,
          -0.352915743368277,
          -0.8760724161021332
        ],
        [
          -0.5550125481256231,
          -0.9171566572099943,
          1.2885059408947495,
          0.004651784993898234,
          -0.6745192596159061,
          0.5967785545106221,
          -0.4345773650108723
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7533387284323856,
            -0.9440420874146173,
            1.2554600633275457
          ],
          "distance_m": -0.0005253123714852871,
          "contact_frame": [
            -0.08357357533985466,
            0.1467878267173931,
            0.9856311639921388,
            0.012401921093747515,
            0.98916800086112,
            -0.14626297694768792,
            -0.9964244325878899,
            1.734723475976807e-18,
            -0.08448875748821201
          ],
          "force_torque_contact_frame": [
            5.0851933169263415,
            0.38239486606828743,
            -2.7719020087345063,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5411631332017638,
            -0.9022708364262675,
            1.2829352124126712
          ],
          "distance_m": -0.001988851214075105,
          "contact_frame": [
            -0.23839622410558417,
            0.057100935078500885,
            0.9694878666313266,
            0.01363489386439551,
            0.9983684105645375,
            -0.05544913395307308,
            -0.9710722578683353,
            0.0,
            -0.23878582453423244
          ],
          "force_torque_contact_frame": [
            2.9719166159362915,
            -0.763005530184687,
            2.2089110857516046,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 89,
      "physics_step": 593,
      "sim_time_s": 2.964999999999959,
      "qpos": [
        -0.6596775158496262,
        -0.9417283945243342,
        1.3152638915552612,
        0.8015745906696691,
        0.4733527440756959,
        -0.3114721815087716,
        -0.19078898137714467,
        -0.23743582645029335,
        -0.21959683054749854,
        0.6494522470650551,
        0.1636090714922911,
        -0.313593462032796,
        1.05161877983773,
        0.20082847371790308,
        -2.9771582239681216,
        0.43842651588263515,
        -0.5339276146413822,
        0.39354730326754517,
        1.5765345446114134,
        0.9148971668927336,
        0.3722299174758591
      ],
      "qvel": [
        0.13874542061361486,
        -0.11439523947114567,
        -0.07507725845828862,
        3.059779523930618,
        0.9406859953243596,
        -3.1152990107225773,
        -2.0404577998051283,
        -0.7125672806375429,
        -0.801433380900097,
        -5.473198882079833,
        -1.859326621346788,
        -0.0014292661694313286,
        2.3427612141055234,
        -0.012749130216847926,
        -0.003749970040440236,
        0.008734943825614766,
        -0.0003071003720026607,
        -0.14223304983591253,
        0.11013179272244607,
        1.2447763216863739
      ],
      "target_rad": [
        -1.047945261001587,
        -0.5125775337219238,
        0.37968212366104126,
        -0.4331846237182617,
        -0.4535411596298218,
        1.6536846160888672,
        0.737991452217102,
        -4.881824493408203,
        0.6042022705078125,
        -3.9024510383605957,
        2.040830612182617,
        1.7258107662200928,
        0.9628121256828308,
        0.5158010125160217
      ],
      "policy_call": 148,
      "body_poses": [
        [
          -0.6596775158496262,
          -0.9417283945243342,
          1.3152638915552612,
          0.8015745906696691,
          0.4733527440756959,
          -0.3114721815087716,
          -0.19078898137714467
        ],
        [
          -0.6516863747960361,
          -0.9337490014944868,
          1.3307468160702502,
          0.04793269293881351,
          -0.6456151060148074,
          -0.5119603448585298,
          -0.5646062319222643
        ],
        [
          -0.6313863577668116,
          -0.9335237187524692,
          1.3347913872835366,
          -0.5034962553642535,
          -0.4915383672477541,
          -0.016736276541747218,
          -0.710353047016133
        ],
        [
          -0.6448613553749806,
          -0.906512222389373,
          1.3422782760690255,
          -0.6861185983380131,
          0.3021280481168771,
          -0.26072882120858665,
          -0.6082601362467763
        ],
        [
          -0.6775914421825606,
          -0.8917705664287742,
          1.320110148463889,
          -0.061697676038962736,
          -0.12965940332217948,
          -0.9077045573656679,
          0.39427689818086514
        ],
        [
          -0.66591573743986,
          -0.8452147921241031,
          1.3084380536367466,
          -0.2698114554992302,
          0.12250912814256532,
          -0.3798057255880717,
          -0.8763223737949714
        ],
        [
          -0.6625009852523254,
          -0.9711508494814682,
          1.3478790847491924,
          0.19029654538840135,
          0.7596572610034806,
          0.6014763820108867,
          -0.15790577095541533
        ],
        [
          -0.7111974676149635,
          -0.9609495108118348,
          1.342920728685665,
          -0.6955353126032292,
          0.17350861452222638,
          -0.17618674290184672,
          -0.6745988594966229
        ],
        [
          -0.7300416059469373,
          -0.9673423441736095,
          1.3301257249832814,
          0.3184758623864322,
          -0.6413743196064787,
          -0.30077395959488545,
          0.6298786648682101
        ],
        [
          -0.7449929526503426,
          -0.9810004735691488,
          1.3411062865886492,
          -0.18326132843716947,
          -0.10315536517930837,
          -0.4256292009315163,
          0.8801216049209144
        ],
        [
          -0.6520710519442234,
          -0.9505165735927624,
          1.3000271066083953,
          -0.03598736118730314,
          -0.5629154655524272,
          -0.6017046106388666,
          -0.5654932802541504
        ],
        [
          -0.6330657638242079,
          -0.9470261853520591,
          1.307451136067143,
          0.8922012366963555,
          0.04773338869062449,
          0.37041026904384927,
          -0.2539580859678753
        ],
        [
          -0.6299299418098889,
          -0.9524149349624584,
          1.2769818400803479,
          0.3693787941376635,
          0.21588874976277517,
          0.8921854223649082,
          -0.14476369118954488
        ],
        [
          -0.6007620481162861,
          -0.9259233178651209,
          1.2920625922319064,
          0.20035146524628095,
          0.26746370872082126,
          -0.29301942659612173,
          -0.895802472941581
        ],
        [
          -0.5526312827012079,
          -0.9151269768287432,
          1.2894418212031948,
          0.05557769723446484,
          -0.6707162864406535,
          0.6266916652212975,
          -0.3928210017495633
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7516645242421025,
            -0.9448054760946518,
            1.2557686705690219
          ],
          "distance_m": -0.00042477957947861496,
          "contact_frame": [
            -0.0835701972950122,
            0.1468492576488556,
            0.985622299692967,
            0.012406724184630862,
            0.9891588828534978,
            -0.1463242210538859,
            -0.9964246561176009,
            0.0,
            -0.08448612123254781
          ],
          "force_torque_contact_frame": [
            4.3070017604082995,
            0.3424650415929367,
            -3.361878674122243,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 90,
      "physics_step": 600,
      "sim_time_s": 2.9999999999999583,
      "qpos": [
        -0.6567914264199267,
        -0.9449767596533352,
        1.3141110251152308,
        0.7804657970525068,
        0.5135886523209762,
        -0.2915734740254518,
        -0.2051456679607155,
        -0.2596329710948302,
        -0.22423700429517573,
        0.6231930487555791,
        -0.016974766574572735,
        -0.36413978287093846,
        1.0511219304854453,
        0.2916163156178514,
        -2.97679459316616,
        0.43820093218115425,
        -0.5332566631857509,
        0.39214540379081403,
        1.5719321984623023,
        0.916820724681685,
        0.407111882396372
      ],
      "qvel": [
        -0.003167141200226164,
        -0.07360905728310208,
        0.019051884020788636,
        1.5180702251320541,
        0.16662391352151273,
        -0.9121652746981023,
        -0.5526513159940016,
        -0.04038543943572309,
        -1.037526397459214,
        -4.771647098526323,
        -1.0285701586145306,
        -0.04242947622538484,
        2.8894923823153853,
        0.040670737874712114,
        -0.01775075456913986,
        0.01713461511792561,
        -0.0497402962890557,
        -0.08914677784485796,
        -0.2570912209869314,
        0.5481024265893217
      ],
      "target_rad": [
        -0.7927625179290771,
        -0.2637576460838318,
        0.2435513734817505,
        -0.3278876543045044,
        -0.3192034959793091,
        1.294899582862854,
        0.6593276262283325,
        -4.14049768447876,
        0.7073813676834106,
        -3.2482728958129883,
        1.6968610286712646,
        1.7387099266052246,
        0.7078751921653748,
        0.30353277921676636
      ],
      "policy_call": 150,
      "body_poses": [
        [
          -0.6567914264199267,
          -0.9449767596533352,
          1.3141110251152308,
          0.7804657970525068,
          0.5135886523209762,
          -0.2915734740254518,
          -0.2051456679607155
        ],
        [
          -0.6486247761017815,
          -0.9384898540039794,
          1.3301882101199975,
          0.08196575369098173,
          -0.6384055308017176,
          -0.49360914060988564,
          -0.584867514715954
        ],
        [
          -0.6283206427298306,
          -0.9382021142993554,
          1.33420808249066,
          -0.4763142508222201,
          -0.5134009737639433,
          0.007132974225874479,
          -0.7137879904289471
        ],
        [
          -0.6422311422066155,
          -0.9121494781331273,
          1.3439552950715217,
          -0.7001228510160611,
          0.2774594306723538,
          -0.23056295823312964,
          -0.6161858324457838
        ],
        [
          -0.6746462875181393,
          -0.8955724530391961,
          1.3226371929543543,
          -0.030110766511133417,
          -0.05145058363437449,
          -0.9312410128776777,
          0.3594945828776152
        ],
        [
          -0.6702086303080733,
          -0.8471617520921977,
          1.3138786980890116,
          -0.2192159058465503,
          0.09470518209907214,
          -0.3481004766756578,
          -0.9065326101391153
        ],
        [
          -0.6586879334471292,
          -0.9775722358745929,
          1.3436295253016426,
          0.14754176061882704,
          0.7629033125592024,
          0.6153307628142664,
          -0.1325821137789926
        ],
        [
          -0.7075878610235394,
          -0.9676122877538018,
          1.340531700830666,
          -0.6654053268905975,
          0.12671303862823535,
          -0.15261190603032362,
          -0.7196451645950301
        ],
        [
          -0.7265138783901413,
          -0.9745114922453917,
          1.32812650709448,
          0.32885608638214914,
          -0.5912126444103151,
          -0.3534921777702168,
          0.6460375869824047
        ],
        [
          -0.7394463921252127,
          -0.9905835468707818,
          1.3383782946757103,
          -0.20715792290713017,
          -0.06703038572894988,
          -0.4793843878860868,
          0.8501665313436617
        ],
        [
          -0.6493500005793501,
          -0.9520797905826647,
          1.2979424712814402,
          0.001432434177016162,
          -0.5651190678052572,
          -0.5760660072029679,
          -0.5905813599162064
        ],
        [
          -0.6302559791267983,
          -0.9491030218523682,
          1.3053625246974083,
          0.8867898840094973,
          0.08811406700582473,
          0.39093677382291986,
          -0.23023477514711424
        ],
        [
          -0.6276244583621404,
          -0.9513677654468979,
          1.2744562788089764,
          0.3506781145726865,
          0.22561971262055108,
          0.9033611924335017,
          -0.10029536999227662
        ],
        [
          -0.598527876610259,
          -0.9260154380425457,
          1.2915047189120652,
          0.19743216345692582,
          0.270090059802795,
          -0.24512376644843015,
          -0.909937492111725
        ],
        [
          -0.5506334968406039,
          -0.9141890864316173,
          1.2890015620942141,
          0.09093599909483455,
          -0.6650138744922761,
          0.6517071776884378,
          -0.35322081670078015
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6344086590379697,
            -0.9484554090529429,
            1.271093109825437
          ],
          "distance_m": -0.0010824891431431157,
          "contact_frame": [
            -0.14331075982484973,
            0.14797172627493932,
            0.9785532148747143,
            0.021441982627070734,
            0.988991591583677,
            -0.1464099489713932,
            -0.9894454343213904,
            3.469446951953614e-18,
            -0.14490594363432913
          ],
          "force_torque_contact_frame": [
            5.616629238404062,
            0.15471084644613398,
            1.6296208492094566,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 91,
      "physics_step": 607,
      "sim_time_s": 3.0349999999999575,
      "qpos": [
        -0.6579392674343816,
        -0.946574951067402,
        1.3141518280967792,
        0.767674413736307,
        0.5320911513487825,
        -0.29619805640150026,
        -0.19955378356452785,
        -0.26434081571201545,
        -0.2044248278346373,
        0.5881914046036787,
        -0.14802819717986704,
        -0.37584583940004396,
        1.0500887939633476,
        0.38295667724765625,
        -2.975158207164789,
        0.4384740053908536,
        -0.5331705064265005,
        0.3909977282889745,
        1.5714453500655796,
        0.8856545327516214,
        0.40385809775197257
      ],
      "qvel": [
        -0.007743804742453965,
        -0.04142961525176876,
        0.008093207365939686,
        1.0095681720806282,
        -0.17716688230369249,
        -0.6272807324476632,
        -0.19969530772842625,
        0.9190573246565934,
        -0.8895601254492119,
        -2.987094295318201,
        0.09662799626330584,
        0.0037935574989744697,
        1.7030782058270633,
        0.02083157461015376,
        0.03502058535255119,
        -0.005858132580739764,
        -0.019035799673928225,
        0.008519978925050803,
        -1.237953368376969,
        -0.4288719071651835
      ],
      "target_rad": [
        -0.7847515940666199,
        -0.20858234167099,
        0.24389970302581787,
        -0.2647547125816345,
        -0.28889548778533936,
        1.237796425819397,
        0.5958547592163086,
        -3.96470308303833,
        0.7826591730117798,
        -3.233008623123169,
        1.6737797260284424,
        1.8120367527008057,
        0.6783580780029297,
        0.30261319875717163
      ],
      "policy_call": 151,
      "body_poses": [
        [
          -0.6579392674343816,
          -0.946574951067402,
          1.3141518280967792,
          0.767674413736307,
          0.5320911513487825,
          -0.29619805640150026,
          -0.19955378356452785
        ],
        [
          -0.6502887038174773,
          -0.9406138529588634,
          1.3306801125112029,
          0.08816123870084747,
          -0.6250271841846057,
          -0.48835103877289315,
          -0.6025627585160167
        ],
        [
          -0.63012386534687,
          -0.9402531683075646,
          1.3353437158430308,
          -0.45634892852332865,
          -0.5099086512522507,
          0.028882332149109596,
          -0.7286320290128269
        ],
        [
          -0.64496995457977,
          -0.9149756017926878,
          1.3457306434722556,
          -0.7156980141510922,
          0.27896812823906586,
          -0.1935473764331867,
          -0.6103216766941885
        ],
        [
          -0.6758727519513082,
          -0.8971190025486351,
          1.3232326466178477,
          -0.03552928749551007,
          -0.004973272340401569,
          -0.940580386285431,
          0.337670657930829
        ],
        [
          -0.6761224740721311,
          -0.848174162984289,
          1.3165737939476951,
          -0.180603802071925,
          0.09798699562835822,
          -0.32508822215685645,
          -0.9230917956410333
        ],
        [
          -0.6603293974364464,
          -0.9802556133019604,
          1.3423883989272611,
          0.14263255783208015,
          0.764017734387605,
          0.6195620284092328,
          -0.10988970807562676
        ],
        [
          -0.7092324201764522,
          -0.9706757286619889,
          1.338299367602447,
          -0.6321454077200486,
          0.11911264336408894,
          -0.13502582229146953,
          -0.7536394290400319
        ],
        [
          -0.7275169125775731,
          -0.9788820482650055,
          1.3257289402502646,
          0.3092817577996381,
          -0.5657407147288311,
          -0.3917565195178147,
          0.656360470630099
        ],
        [
          -0.7387819050735529,
          -0.9964665533963909,
          1.3354523719155666,
          -0.2448634678618861,
          -0.04526517513453501,
          -0.4977794362284902,
          0.8307879265460812
        ],
        [
          -0.6499798616438943,
          -0.953007863547362,
          1.2979494981258295,
          0.006616306140733358,
          -0.5539452414250213,
          -0.5677062511042799,
          -0.6089421207740119
        ],
        [
          -0.6311300147640836,
          -0.9501367031710535,
          1.306008016023136,
          0.8913477995804695,
          0.10560127983439549,
          0.38316209686724517,
          -0.21802357075483442
        ],
        [
          -0.6276321518394241,
          -0.9512566883156863,
          1.2751250014643838,
          0.35936733448043545,
          0.22912976897836324,
          0.9011402826413625,
          -0.0793779495665741
        ],
        [
          -0.5992542501365014,
          -0.9262859874228881,
          1.2938642564194682,
          0.1791059829981823,
          0.29069101589202295,
          -0.22570882403803005,
          -0.9124008477008817
        ],
        [
          -0.5511530570390326,
          -0.915049003221164,
          1.2937907128933848,
          0.11825001482911965,
          -0.6521361368367932,
          0.6627765227153235,
          -0.3485149551480965
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7566353218411488,
            -0.9517495988007718,
            1.2564362549920458
          ],
          "distance_m": -0.0003470144720398146,
          "contact_frame": [
            -0.08359422188249815,
            0.1465104650889543,
            0.9856706801398113,
            0.012381030538263001,
            0.989209120267003,
            -0.1459863913636894,
            -0.9964229604694335,
            1.734723475976807e-18,
            -0.08450611723023212
          ],
          "force_torque_contact_frame": [
            3.91334592704295,
            0.46833417215090195,
            -3.445011754892048,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.634562620930593,
            -0.9489437475909253,
            1.2714410826514326
          ],
          "distance_m": -0.0005018794681596545,
          "contact_frame": [
            -0.14330990119543924,
            0.1479725255115528,
            0.9785532197653259,
            0.021441972566014173,
            0.9889914720025309,
            -0.14641075820698915,
            -0.9894455589024753,
            0.0,
            -0.14490509296835727
          ],
          "force_torque_contact_frame": [
            3.476262684963272,
            -0.9533050036938963,
            1.5113701138113578,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 92,
      "physics_step": 613,
      "sim_time_s": 3.064999999999957,
      "qpos": [
        -0.6578206706270349,
        -0.9475276654667104,
        1.3143071293829833,
        0.7591579317030631,
        0.5421732982660975,
        -0.2957103821188604,
        -0.20562762286888114,
        -0.2727622244767912,
        -0.1729041574799797,
        0.5630344474138056,
        -0.21565584822840614,
        -0.3649736419017641,
        1.0497745238518632,
        0.42018764591225327,
        -2.974000179293926,
        0.4392569837242518,
        -0.5331760982661037,
        0.39048912547634373,
        1.571679873110634,
        0.838734140865293,
        0.3859128915849614
      ],
      "qvel": [
        0.007298064022194357,
        -0.022608794265793698,
        0.0028218070366254288,
        0.5011894341400757,
        -0.2522143162287825,
        -0.5331166934118184,
        -0.26366831273635694,
        1.097515531839881,
        -0.7958773234453302,
        -1.7777584306707275,
        0.5098017532808128,
        -0.015095866234690438,
        1.0479814482796315,
        0.04397917459808387,
        0.022858210208799697,
        0.002144137018689044,
        -0.0159218446698258,
        0.0054213980189023354,
        -1.7654235028942058,
        -0.6763436928530498
      ],
      "target_rad": [
        -0.7206056714057922,
        -0.21248957514762878,
        0.19743162393569946,
        -0.2594023048877716,
        -0.2726438045501709,
        1.1557682752609253,
        0.6873114109039307,
        -3.753647804260254,
        0.9013230204582214,
        -3.0282702445983887,
        1.5977685451507568,
        1.8179519176483154,
        0.602191686630249,
        0.296427845954895
      ],
      "policy_call": 153,
      "body_poses": [
        [
          -0.6578206706270349,
          -0.9475276654667104,
          1.3143071293829833,
          0.7591579317030631,
          0.5421732982660975,
          -0.2957103821188604,
          -0.20562762286888114
        ],
        [
          -0.6501654170652471,
          -0.9420851486300521,
          1.3310112038376614,
          0.09210545644141559,
          -0.6226568509581728,
          -0.48052255983380343,
          -0.6106661119952046
        ],
        [
          -0.6300362704691289,
          -0.941915708804651,
          1.3358370454697037,
          -0.44037764029291343,
          -0.5114716103817792,
          0.04804208465142749,
          -0.7363126264066508
        ],
        [
          -0.6454110015155713,
          -0.9172887938658212,
          1.3469897449566084,
          -0.728448336716945,
          0.2731746006923134,
          -0.1661805430560394,
          -0.6059064988762801
        ],
        [
          -0.6752540744567471,
          -0.89809510588882,
          1.3241644470685374,
          -0.04178269529642657,
          0.01539507308076643,
          -0.9473767235746471,
          0.31700874077471586
        ],
        [
          -0.6776787335522078,
          -0.8489730164533816,
          1.3195664738446484,
          -0.1567863719710906,
          0.09861828247562711,
          -0.30416240680820905,
          -0.9344397777333423
        ],
        [
          -0.6604746797497071,
          -0.9819790419627277,
          1.341573639158832,
          0.13200991310746996,
          0.767893416943678,
          0.6186607171007636,
          -0.10085633431912078
        ],
        [
          -0.7093126325410207,
          -0.971995811966955,
          1.3376762700455809,
          -0.6219857590214097,
          0.10807343759588514,
          -0.12616952649962804,
          -0.7652026517489529
        ],
        [
          -0.7274937449644299,
          -0.9803795066001656,
          1.325072984642384,
          0.3093612169946586,
          -0.5522386957428298,
          -0.4070716224326658,
          0.6584988645046242
        ],
        [
          -0.7381356414755762,
          -0.9985395673068589,
          1.334433659499213,
          -0.2539525046560883,
          -0.03703788323912685,
          -0.5107952756660505,
          0.8205025941100418
        ],
        [
          -0.6498698468023744,
          -0.953548726305291,
          1.2979431070508265,
          0.012037308835683241,
          -0.5549953621061705,
          -0.5573003073702902,
          -0.6174557624976995
        ],
        [
          -0.6310182870652449,
          -0.9510249614150339,
          1.3061131319134658,
          0.8893800783336184,
          0.11951555307005474,
          0.38508232486427896,
          -0.21547786873544106
        ],
        [
          -0.6274733113961944,
          -0.9513028368398694,
          1.2752164341489132,
          0.3566223032019489,
          0.23727421466338217,
          0.9010762742214626,
          -0.06769806459552757
        ],
        [
          -0.5989626632407292,
          -0.9270621773850215,
          1.2946980730778985,
          0.15018879094152185,
          0.2981543902459129,
          -0.20704215674140097,
          -0.9196090647576725
        ],
        [
          -0.5504500848214674,
          -0.917847311883423,
          1.2959692885995246,
          0.131732922840388,
          -0.6380925046005401,
          0.679025375432735,
          -0.3382438944474406
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7551003244907447,
            -0.9522846351284404,
            1.256626373205153
          ],
          "distance_m": -0.0003886318501666369,
          "contact_frame": [
            -0.0835479473281884,
            0.1491017593612042,
            0.9852859513119223,
            0.012597967820433887,
            0.9888218572399143,
            -0.1485685897200406,
            -0.9964241224017218,
            1.734723475976807e-18,
            -0.08449241561204433
          ],
          "force_torque_contact_frame": [
            3.1008855325123514,
            0.1103038005465516,
            -2.9905817319657997,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.634429227121709,
            -0.9489929172053029,
            1.271534607037065
          ],
          "distance_m": -0.0003716245819980682,
          "contact_frame": [
            -0.14328973517288993,
            0.14798595601795966,
            0.9785541418927894,
            0.021440944774841316,
            0.9889894624420679,
            -0.14642448246694162,
            -0.9894485017833142,
            0.0,
            -0.14488499687253584
          ],
          "force_torque_contact_frame": [
            4.06161111245793,
            -0.5466608537677173,
            2.0011112130633983,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 93,
      "physics_step": 620,
      "sim_time_s": 3.099999999999956,
      "qpos": [
        -0.657606492543642,
        -0.9477830354477984,
        1.3143146679479907,
        0.7542414224297637,
        0.5459080517422367,
        -0.297840742477244,
        -0.21070160857175904,
        -0.28263571674471266,
        -0.13420967490741026,
        0.5378093179866028,
        -0.25640761753290464,
        -0.34114786839032524,
        1.0492254904385028,
        0.45080992879442655,
        -2.972682264760856,
        0.43978499106215624,
        -0.5330951770267047,
        0.3900671275604417,
        1.5718190747783805,
        0.7727691349771073,
        0.3609082942080654
      ],
      "qvel": [
        0.004265136614529677,
        0.004318218466871979,
        -0.0013160550414331178,
        0.07144313975068667,
        -0.31125571325482954,
        -0.07273096180879583,
        -0.2971598407737538,
        1.0931181756438126,
        -0.6575484883285387,
        -0.7613160576296129,
        0.7851571795167329,
        -0.015602593407628953,
        0.7955295226107897,
        0.03055285073522312,
        0.00884933744245802,
        0.0016541560437075623,
        -0.0085103447865244,
        0.0034887725889655953,
        -1.8959863605338843,
        -0.711206960242336
      ],
      "target_rad": [
        -0.704315721988678,
        -0.20214958488941193,
        0.15258800983428955,
        -0.22760874032974243,
        -0.22445464134216309,
        1.1070144176483154,
        0.676826000213623,
        -3.6410248279571533,
        0.9418578743934631,
        -3.007035255432129,
        1.5824146270751953,
        1.854731798171997,
        0.5901036858558655,
        0.29117071628570557
      ],
      "policy_call": 155,
      "body_poses": [
        [
          -0.657606492543642,
          -0.9477830354477984,
          1.3143146679479907,
          0.7542414224297637,
          0.5459080517422367,
          -0.297840742477244,
          -0.21070160857175904
        ],
        [
          -0.6499356508008954,
          -0.9426356654219228,
          1.3311049260989083,
          0.08962867732023456,
          -0.6213822966042827,
          -0.4766123504803323,
          -0.6153790775109483
        ],
        [
          -0.6298505975933706,
          -0.9426495350036862,
          1.3361139624618823,
          -0.4269367437894609,
          -0.5082087055158103,
          0.06418969094710145,
          -0.7452037385953673
        ],
        [
          -0.645821665334264,
          -0.9185750075099454,
          1.347628827687707,
          -0.7396618352911103,
          0.27238979851544726,
          -0.14028482701209327,
          -0.5991863936945561
        ],
        [
          -0.674455783176253,
          -0.8982616625391885,
          1.3242310458287336,
          -0.055337580769240606,
          0.02252350676680634,
          -0.9516389318527413,
          0.3013532597794599
        ],
        [
          -0.6779468066428674,
          -0.8490849134749366,
          1.3211553171951989,
          -0.1393421537588702,
          0.10568860211608189,
          -0.28758642945703716,
          -0.9416515964839332
        ],
        [
          -0.6606595160994249,
          -0.9825612714919573,
          1.3411205816066334,
          0.12711662904905863,
          0.7717141659453812,
          0.6155966496654386,
          -0.09664043470057614
        ],
        [
          -0.7093944422338556,
          -0.9720730587379681,
          1.3372599640525837,
          -0.6146061063363499,
          0.10230180221176297,
          -0.12260649356431993,
          -0.772503283523222
        ],
        [
          -0.7275072484873133,
          -0.9806519558290228,
          1.3246897308830758,
          0.3075713001491373,
          -0.5438885931402762,
          -0.41514647020148004,
          0.6612401242027832
        ],
        [
          -0.7377166170509857,
          -0.9991258928341905,
          1.3339169972746023,
          -0.26011149743244133,
          -0.030488175052829733,
          -0.5168332902335037,
          0.8150434529470265
        ],
        [
          -0.6496784863060487,
          -0.9536669116051015,
          1.297889786868902,
          0.012064306612181941,
          -0.556986097448015,
          -0.5504923054986604,
          -0.6217549045583539
        ],
        [
          -0.6308209171688047,
          -0.9514369563020678,
          1.3061311087034462,
          0.8878632992561774,
          0.12741583766699321,
          0.38498514842072334,
          -0.21737157505301394
        ],
        [
          -0.6272164667767623,
          -0.9513520392914216,
          1.2752401597624925,
          0.3556210317074546,
          0.24426174263384992,
          0.8999149773435828,
          -0.06342646486680245
        ],
        [
          -0.5984998468540687,
          -0.9276598436421596,
          1.295090512150867,
          0.11287158173405279,
          0.3055020253287663,
          -0.19276344870902257,
          -0.9256191286909964
        ],
        [
          -0.5495739775348599,
          -0.9214221612433726,
          1.2978017166159672,
          0.14165812086610474,
          -0.6192551414971059,
          0.6971612690699515,
          -0.3322983771113819
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7561516830972119,
            -0.9523330914671184,
            1.2566639558999806
          ],
          "distance_m": -0.00015311253510229958,
          "contact_frame": [
            -0.0835417651195782,
            0.14910742707552835,
            0.9852856178142565,
            0.012597525353449815,
            0.9888210026040688,
            -0.14857431529054135,
            -0.9964246463409434,
            -1.734723475976807e-18,
            -0.08448623653782658
          ],
          "force_torque_contact_frame": [
            2.977786378519925,
            -0.048890850005428144,
            -2.4743672205775793,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6343219979073371,
            -0.9494277519886722,
            1.2716192676756537
          ],
          "distance_m": -0.00036536441014358914,
          "contact_frame": [
            -0.14330008800407365,
            0.1479816598814111,
            0.978553275563864,
            0.02144185747745569,
            0.9889901052784817,
            -0.14642000686099602,
            -0.9894469826756468,
            -3.469446951953614e-18,
            -0.14489537078201903
          ],
          "force_torque_contact_frame": [
            4.2058950281958705,
            -0.40828573782906463,
            1.6586250738655173,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 94,
      "physics_step": 627,
      "sim_time_s": 3.1349999999999554,
      "qpos": [
        -0.6575137208108219,
        -0.9470965652572274,
        1.314230469903654,
        0.7549518256600808,
        0.5413603186708551,
        -0.30312683633454207,
        -0.2123461028484238,
        -0.29228984159530463,
        -0.09796288364755619,
        0.5169195770458855,
        -0.2699771602009735,
        -0.30897313268386384,
        1.0487655815934895,
        0.47573327078297895,
        -2.971920347033008,
        0.43997390287858157,
        -0.5330732803299307,
        0.3899342438021858,
        1.571989691650843,
        0.7121132238461391,
        0.3385409676866209
      ],
      "qvel": [
        0.001758271459253161,
        0.031151975238040013,
        -0.003220289604699692,
        -0.37523961802806716,
        -0.3288276969194234,
        0.3689784260764192,
        -0.250699236230808,
        0.9726727432977119,
        -0.5535318476584992,
        -0.1758094172836211,
        0.9978847420011696,
        -0.01038599006984197,
        0.6557240781763707,
        0.014460410717841637,
        0.003425696239053272,
        2.463607676055562e-05,
        -0.0009114494459391188,
        0.00537514298739187,
        -1.5582878713770627,
        -0.5641030368797918
      ],
      "target_rad": [
        -0.7052581906318665,
        -0.20727723836898804,
        0.1318066120147705,
        -0.21438129246234894,
        -0.20019757747650146,
        1.104920744895935,
        0.66938716173172,
        -3.635906457901001,
        0.9595134258270264,
        -3.043245792388916,
        1.5976176261901855,
        1.8777425289154053,
        0.5977360010147095,
        0.2948147654533386
      ],
      "policy_call": 156,
      "body_poses": [
        [
          -0.6575137208108219,
          -0.9470965652572274,
          1.314230469903654,
          0.7549518256600808,
          0.5413603186708551,
          -0.30312683633454207,
          -0.2123461028484238
        ],
        [
          -0.6498520643368453,
          -0.9418818418673837,
          1.331004130209091,
          0.07970170103244338,
          -0.6208180275510207,
          -0.47919526618077357,
          -0.6153084692982318
        ],
        [
          -0.6298213882031279,
          -0.9419861575823234,
          1.3362253495932714,
          -0.4200612203805694,
          -0.4994605720785257,
          0.07187825844971564,
          -0.7542686683361669
        ],
        [
          -0.6463475386968172,
          -0.9181705016990512,
          1.3474925979134913,
          -0.7464893740014394,
          0.27954836670376315,
          -0.12219648571849849,
          -0.5913326847505102
        ],
        [
          -0.6738275046070219,
          -0.8973337412508438,
          1.323188652307726,
          -0.07202166235659119,
          0.018595168700755227,
          -0.952142294645237,
          0.29646610362752435
        ],
        [
          -0.6773737396850886,
          -0.8481369170623655,
          1.320524687867452,
          -0.12813508884010683,
          0.11678200186043869,
          -0.2818532144400012,
          -0.9436642032837979
        ],
        [
          -0.6610395621427405,
          -0.981600274030357,
          1.3413315065268387,
          0.1311849637194542,
          0.7744562222080533,
          0.6109716222281748,
          -0.09859889456291353
        ],
        [
          -0.7096501088260577,
          -0.9706498558177772,
          1.3371959180416726,
          -0.6086865947009671,
          0.10425832708842703,
          -0.1267337285328007,
          -0.7762534333039939
        ],
        [
          -0.7276989860803452,
          -0.9795842221196548,
          1.3247823320870205,
          0.3012982192997365,
          -0.5412319371510619,
          -0.4149110078117722,
          0.6664354648809866
        ],
        [
          -0.7376214331763258,
          -0.9981018075558102,
          1.3342324153269793,
          -0.2647465612115265,
          -0.024114313742015517,
          -0.5135506694091566,
          0.8158391190356283
        ],
        [
          -0.6495867809479478,
          -0.9532105115255411,
          1.297889316779148,
          0.0052255692193282355,
          -0.5587724605671776,
          -0.5502876191357611,
          -0.6204269231456127
        ],
        [
          -0.6307377206615642,
          -0.9511083381401629,
          1.3061835191746822,
          0.887967187430803,
          0.12591888837018636,
          0.38164261205562433,
          -0.22362384546645736
        ],
        [
          -0.6270175791209298,
          -0.9513392888248591,
          1.275307036073479,
          0.3580667004915947,
          0.24769966484961375,
          0.8976020604356751,
          -0.06887419788340324
        ],
        [
          -0.5981195592176806,
          -0.9277853806964308,
          1.2950584598692203,
          0.08072331439717317,
          0.31160006075398233,
          -0.18936953100521242,
          -0.9276466619234479
        ],
        [
          -0.5489971235260972,
          -0.9243653584030191,
          1.298968672042341,
          0.1448710435908735,
          -0.6019478211061017,
          0.710424804979807,
          -0.33461589601199576
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7568575530495909,
            -0.9523022182677154,
            1.2566048259130607
          ],
          "distance_m": -0.00014233540737633042,
          "contact_frame": [
            -0.08354888493131223,
            0.14911759049571457,
            0.9852834759760699,
            0.012599477243157593,
            0.9888194699765738,
            -0.14858434967535034,
            -0.9964240247002947,
            -1.734723475976807e-18,
            -0.08449356780291915
          ],
          "force_torque_contact_frame": [
            2.9942040468064284,
            -0.08002906245196906,
            -2.217385250401887,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6340600646972597,
            -0.9492971100809128,
            1.2716362102982701
          ],
          "distance_m": -0.00036860734737665697,
          "contact_frame": [
            -0.14329552369229143,
            0.1479897729882337,
            0.9785527170166373,
            0.021442376358582153,
            0.9889888912879108,
            -0.1464281305118858,
            -0.9894476324626023,
            3.469446951953614e-18,
            -0.1448909335125947
          ],
          "force_torque_contact_frame": [
            4.190735841089347,
            -0.3390322384173017,
            1.372489699292939,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 95,
      "physics_step": 633,
      "sim_time_s": 3.1649999999999547,
      "qpos": [
        -0.6574852776932878,
        -0.9457429883767255,
        1.314099039685803,
        0.7601738373871412,
        0.530636629051626,
        -0.30984304634045584,
        -0.21108716563377822,
        -0.29884589500641534,
        -0.07205240973876073,
        0.5017276537945417,
        -0.2713875402190322,
        -0.27686091811332647,
        1.0485756204455228,
        0.4937562419992237,
        -2.971760407646937,
        0.44006154975105016,
        -0.5330829594550229,
        0.3900077672216604,
        1.5721715350887877,
        0.6735338538704413,
        0.32539983469034445
      ],
      "qvel": [
        0.0003261662950842597,
        0.05530814758606352,
        -0.005315114027883324,
        -0.7753016949487916,
        -0.3472958350635496,
        0.764116836006276,
        -0.19644658453514036,
        0.7746274862781153,
        -0.47502032761661056,
        0.00406149042831052,
        1.1303413629584775,
        -0.00294993068190193,
        0.5653025421329579,
        -0.002067587622001316,
        0.0032242382775124227,
        -0.0004891686139048622,
        0.00628808207754599,
        0.006892201290768955,
        -1.081868137640373,
        -0.3308101135898243
      ],
      "target_rad": [
        -0.7424535155296326,
        -0.2411312609910965,
        0.0869331955909729,
        -0.1966850608587265,
        -0.1403651237487793,
        1.1561167240142822,
        0.6641749143600464,
        -3.7635586261749268,
        1.0032685995101929,
        -3.236133337020874,
        1.6880712509155273,
        1.9322919845581055,
        0.6153228878974915,
        0.3211454749107361
      ],
      "policy_call": 158,
      "body_poses": [
        [
          -0.6574852776932878,
          -0.9457429883767255,
          1.314099039685803,
          0.7601738373871412,
          0.530636629051626,
          -0.30984304634045584,
          -0.21108716563377822
        ],
        [
          -0.6498348416685711,
          -0.9401764464054638,
          1.3307644061418369,
          0.06591166809304265,
          -0.6213327523896651,
          -0.4861765783653886,
          -0.6109284716445939
        ],
        [
          -0.6298488360545152,
          -0.9402836451621565,
          1.3361540339602946,
          -0.42042919414154734,
          -0.488817155553672,
          0.0706523362465579,
          -0.7611210997816378
        ],
        [
          -0.6467304457226976,
          -0.9164169168264032,
          1.346767258425955,
          -0.7490718782156001,
          0.29168835149893424,
          -0.11473687193022804,
          -0.5836477337281913
        ],
        [
          -0.6733014830998233,
          -0.8956220724474013,
          1.3214383163958092,
          -0.08509648802428355,
          0.011585077064632673,
          -0.9495362772474292,
          0.30167073425579805
        ],
        [
          -0.6764525951171253,
          -0.8464337901618525,
          1.3181851058505822,
          -0.11955108054105537,
          0.12590960778418353,
          -0.2870425314271953,
          -0.9420514290424734
        ],
        [
          -0.6614448774643485,
          -0.9795095814535847,
          1.342055119952622,
          0.1417017981470626,
          0.7757912836478633,
          0.6057457034298259,
          -0.1055491705045366
        ],
        [
          -0.7099337518724912,
          -0.9682103071357652,
          1.3374556136180205,
          -0.6042384598214096,
          0.11161152078315754,
          -0.13697771870190206,
          -0.7769658014870056
        ],
        [
          -0.727942537494188,
          -0.9775942205771367,
          1.3253185712861089,
          0.2922731106455651,
          -0.5427402644026076,
          -0.4079779109405844,
          0.673471200849977
        ],
        [
          -0.7377042661611369,
          -0.9959359127580797,
          1.335265982073465,
          -0.2675445552039417,
          -0.01785970552646937,
          -0.5033905704390318,
          0.8214005572753766
        ],
        [
          -0.6495582626440183,
          -0.9523471347544036,
          1.2979498080312983,
          -0.0059274457815398085,
          -0.5602660840461002,
          -0.5554493402740182,
          -0.6144451243547414
        ],
        [
          -0.6307202415478783,
          -0.9502153795119753,
          1.3062615214989155,
          0.8891393116440717,
          0.11687910910604574,
          0.37646405945419315,
          -0.23247660158165068
        ],
        [
          -0.6268883909192984,
          -0.9512672314494862,
          1.2754157676864082,
          0.3625722662722257,
          0.24764708207874514,
          0.8947466543668001,
          -0.08149048390777794
        ],
        [
          -0.5978356527484692,
          -0.9275015771826216,
          1.2946805792986484,
          0.06192149065394048,
          0.31527832923945504,
          -0.1967204167067551,
          -0.9263187257946872
        ],
        [
          -0.5486874362373383,
          -0.9259341683342899,
          1.299370573251435,
          0.14136995174466632,
          -0.5905553296865418,
          0.7163414376828405,
          -0.3436770053131461
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7574489897449591,
            -0.9522952846601538,
            1.2565421347763486
          ],
          "distance_m": -0.00016485557083264387,
          "contact_frame": [
            -0.0835137203835675,
            0.14913547625005497,
            0.985283750110274,
            0.012595719255849425,
            0.9888167725740039,
            -0.14860261818944692,
            -0.9964270200893408,
            0.0,
            -0.08445823604526011
          ],
          "force_torque_contact_frame": [
            2.9688583498627796,
            -0.050085402956208,
            -2.03150419831004,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.633672985349101,
            -0.9486878706724209,
            1.2716003096706057
          ],
          "distance_m": -0.00036948464724562537,
          "contact_frame": [
            -0.14331337023892,
            0.14796929642545625,
            0.9785531999978937,
            0.021442013206051366,
            0.9889919551317672,
            -0.14640748872348047,
            -0.9894450555641954,
            0.0,
            -0.14490852983715705
          ],
          "force_torque_contact_frame": [
            4.1540763084005645,
            -0.3043471605097321,
            1.190695654645702,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 96,
      "physics_step": 640,
      "sim_time_s": 3.199999999999954,
      "qpos": [
        -0.6574921445663311,
        -0.9431770373999545,
        1.3138062053435386,
        0.7717816600403584,
        0.5090657717761656,
        -0.32046399445610296,
        -0.20617453161951177,
        -0.3039776957202143,
        -0.05087070866978449,
        0.48565573527528444,
        -0.2692038484638055,
        -0.23353908917448526,
        1.0486060379215218,
        0.5118597445734173,
        -2.9722142129945164,
        0.4402070486856949,
        -0.5331119060527153,
        0.39039781923066863,
        1.5724113495886056,
        0.6461604338312743,
        0.320925818292745
      ],
      "qvel": [
        -0.0006704494056827659,
        0.08774820480109563,
        -0.011169662224368205,
        -1.3084593865794514,
        -0.3872812187646143,
        1.294424087200182,
        -0.10537452133316698,
        0.468128633664338,
        -0.45908175249786987,
        0.1228231707284504,
        1.3200284000571856,
        0.002855883066445729,
        0.48520124265038655,
        -0.019425080062417097,
        0.004582664815744363,
        -0.0010240615520159247,
        0.013504007939121182,
        0.006251756835088369,
        -0.5796279546736071,
        0.009876906483150129
      ],
      "target_rad": [
        -0.8569731712341309,
        -0.28834831714630127,
        0.041718989610672,
        -0.19070909917354584,
        -0.046340763568878174,
        1.26874840259552,
        0.6768578290939331,
        -4.099768161773682,
        1.0811220407485962,
        -3.605330228805542,
        1.8557422161102295,
        1.992469310760498,
        0.6065461039543152,
        0.3857123851776123
      ],
      "policy_call": 160,
      "body_poses": [
        [
          -0.6574921445663311,
          -0.9431770373999545,
          1.3138062053435386,
          0.7717816600403584,
          0.5090657717761656,
          -0.32046399445610296,
          -0.20617453161951177
        ],
        [
          -0.649852303064019,
          -0.9368339403625402,
          1.3301966886126035,
          0.04301552851408785,
          -0.6229942003051817,
          -0.5000330935541003,
          -0.599995663353893
        ],
        [
          -0.6299134013191834,
          -0.9368513843499027,
          1.3357590525810163,
          -0.42975664478427555,
          -0.4725853488747683,
          0.05868411327063939,
          -0.7671561048067825
        ],
        [
          -0.6469931104027943,
          -0.9125732121983737,
          1.3450382710071525,
          -0.7484157569338072,
          0.3138599210635698,
          -0.1171551402931946,
          -0.5723988800006938
        ],
        [
          -0.6725617681667643,
          -0.8924731169733938,
          1.3181639189869507,
          -0.09693381902879175,
          0.0019962077008667534,
          -0.9422115676469204,
          0.320682415600921
        ],
        [
          -0.6748911823247824,
          -0.8434100040439687,
          1.3129308721349813,
          -0.10778914573353049,
          0.13363461807943824,
          -0.30720541303484716,
          -0.936027843130154
        ],
        [
          -0.6620024528771934,
          -0.9753742621994066,
          1.343477732038411,
          0.162956611381846,
          0.7757679277814928,
          0.5976146438924074,
          -0.12035781004116947
        ],
        [
          -0.7103247903553871,
          -0.9637440741781769,
          1.3380288397441544,
          -0.5992166437130911,
          0.1271808508155155,
          -0.15768922225948673,
          -0.7745311835337934
        ],
        [
          -0.7283095052882046,
          -0.9738356010997709,
          1.326436035907893,
          0.27682476881645585,
          -0.5486947341123637,
          -0.3911620525823634,
          0.6850506439283384
        ],
        [
          -0.7379719325601449,
          -0.991674511364693,
          1.3373479917259177,
          -0.269367598807542,
          -0.009033780071770123,
          -0.4819938326054961,
          0.8336914494347049
        ],
        [
          -0.6495712160765147,
          -0.9507180275387591,
          1.2980695487867706,
          -0.02585595517294531,
          -0.5617479731609458,
          -0.5679736639253142,
          -0.6009797012536437
        ],
        [
          -0.6307479683494039,
          -0.9483799584875169,
          1.3063592277983755,
          0.8914682842378381,
          0.09639402288494842,
          0.3672097752970927,
          -0.2472841917235319
        ],
        [
          -0.626777801438134,
          -0.9510931345123186,
          1.2756325870683005,
          0.3707927836943899,
          0.2437358179098038,
          0.8898232619140638,
          -0.10639607692307212
        ],
        [
          -0.5975315356135557,
          -0.9267034342689331,
          1.2937929654169447,
          0.051383611621043074,
          0.31782912547715925,
          -0.21861395340389203,
          -0.9211689914626542
        ],
        [
          -0.548430217919924,
          -0.9265135427827047,
          1.2991804084071312,
          0.12986078964719833,
          -0.5805972568386577,
          0.7170072605817679,
          -0.36324040102480476
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7575077249968744,
            -0.9520872385120638,
            1.2564943049925816
          ],
          "distance_m": -0.00018728153651866445,
          "contact_frame": [
            -0.08345622741599054,
            0.14918584454926842,
            0.9852809964125017,
            0.012591395882733614,
            0.9888091746065676,
            -0.1486535333034596,
            -0.9964318917292917,
            -1.734723475976807e-18,
            -0.0844007413758034
          ],
          "force_torque_contact_frame": [
            2.9296915215675723,
            0.05947854679478792,
            -1.9015791791644954,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6332074893304626,
            -0.9480242959146857,
            1.271576640485994
          ],
          "distance_m": -0.0003528155148221221,
          "contact_frame": [
            -0.14331493590787162,
            0.1479678390524099,
            0.9785531910692861,
            0.021442031540140943,
            0.9889921731774018,
            -0.14640601311855833,
            -0.9894448283907264,
            0.0,
            -0.1449100809841943
          ],
          "force_torque_contact_frame": [
            4.046411304501724,
            -0.2823270366689107,
            1.0634822154918868,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 97,
      "physics_step": 647,
      "sim_time_s": 3.2349999999999532,
      "qpos": [
        -0.6575227766419532,
        -0.939309437355051,
        1.3131689742906363,
        0.7896589892777413,
        0.47496388791842936,
        -0.334899055507838,
        -0.19669928430531733,
        -0.3075667809452684,
        -0.03849700482558335,
        0.4706589520004441,
        -0.2631544850897349,
        -0.17989801574146813,
        1.048921117952453,
        0.5290408927879497,
        -2.9735304234204607,
        0.4405332892428928,
        -0.5331435491942436,
        0.39110288978273605,
        1.5727123631948479,
        0.6298185957635519,
        0.3301467585184499
      ],
      "qvel": [
        -0.0009199322616461398,
        0.1292609132846134,
        -0.024928281054338513,
        -1.9852883246753243,
        -0.4835205268702254,
        1.9857905413279342,
        -0.11363406505353262,
        0.31309868853284567,
        -0.3994706884336011,
        0.17495398206146168,
        1.6795898726598895,
        0.011753647121124334,
        0.5063077361905609,
        -0.04602284801739162,
        0.012371492853129391,
        -0.0007861809939862191,
        0.022508461481177692,
        0.009778601759532511,
        -0.47890452928700294,
        0.4376387558854365
      ],
      "target_rad": [
        -0.9651176333427429,
        -0.31067967414855957,
        0.013781517744064331,
        -0.1983625888824463,
        0.005331367254257202,
        1.329588770866394,
        0.6959600448608398,
        -4.33383846282959,
        1.1466327905654907,
        -3.833866834640503,
        1.957671880722046,
        2.036466360092163,
        0.553667426109314,
        0.4114430546760559
      ],
      "policy_call": 161,
      "body_poses": [
        [
          -0.6575227766419532,
          -0.939309437355051,
          1.3131689742906363,
          0.7896589892777413,
          0.47496388791842936,
          -0.334899055507838,
          -0.19669928430531733
        ],
        [
          -0.649885027386781,
          -0.9317401157641626,
          1.3290315137143485,
          0.010153148023171008,
          -0.6250042776504935,
          -0.521173273213384,
          -0.5810722724342057
        ],
        [
          -0.6299940368717719,
          -0.931543574270376,
          1.3347595035688293,
          -0.4496863227249021,
          -0.4498561438082584,
          0.03370270947549824,
          -0.7708928514431358
        ],
        [
          -0.6470351237275153,
          -0.9065224569210731,
          1.3418865678569796,
          -0.7426212477768672,
          0.34728405448102995,
          -0.13208804856516243,
          -0.5571895685310276
        ],
        [
          -0.6715898535376933,
          -0.8880539747145019,
          1.312973226760788,
          -0.10637945901945083,
          -0.009401957651742038,
          -0.928363148838739,
          0.3560012328198663
        ],
        [
          -0.6726368893476132,
          -0.839469370544654,
          1.304116593446038,
          -0.09275673371564928,
          0.13792819484373722,
          -0.34500620304232754,
          -0.9237655120645434
        ],
        [
          -0.6626814048775531,
          -0.9688703809397894,
          1.345370571011246,
          0.19601514503701672,
          0.7731530008892583,
          0.5858057232785852,
          -0.1436807388138912
        ],
        [
          -0.7107895102524102,
          -0.9570294091907723,
          1.338632501162942,
          -0.5931043732658763,
          0.15163252876511768,
          -0.1899306926494085,
          -0.7675683100694711
        ],
        [
          -0.7287777694564025,
          -0.9680582458637434,
          1.327933469428205,
          0.2542395665667075,
          -0.5590326098977443,
          -0.36281079948595896,
          0.7008659698110961
        ],
        [
          -0.7384173121823833,
          -0.9849508896025013,
          1.3402776098822582,
          -0.26956543789098975,
          0.002536621474188344,
          -0.44769129281963554,
          0.8525846272245463
        ],
        [
          -0.6496232554268195,
          -0.9482404245350656,
          1.2981661401396478,
          -0.05531070046978061,
          -0.5623753416922109,
          -0.5882056637350043,
          -0.5785229456297948
        ],
        [
          -0.6308160306558169,
          -0.9454923062340602,
          1.3063659049055827,
          0.8941454149460205,
          0.06295250785511079,
          0.35304551329640305,
          -0.2681414257943755
        ],
        [
          -0.6266984511055077,
          -0.9507835940613131,
          1.2759965484458873,
          0.3827542334685537,
          0.2349635316595461,
          0.8816724680883019,
          -0.14472385624718503
        ],
        [
          -0.5972144242098633,
          -0.9253930492873799,
          1.292306461949944,
          0.04967154007726224,
          0.319106740095207,
          -0.2561575418194163,
          -0.9110910713541195
        ],
        [
          -0.5481954494328212,
          -0.9260369910764602,
          1.2983666146526394,
          0.11074962655048726,
          -0.5700339727516054,
          0.7124713833578624,
          -0.39392933125636076
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7580924863180167,
            -0.951870879975095,
            1.2564184313857782
          ],
          "distance_m": -0.00017448503284224487,
          "contact_frame": [
            -0.08337171457885255,
            0.1492633194767053,
            0.9852764173910677,
            0.0125853262051759,
            0.9887974825305711,
            -0.14873179924116534,
            -0.9964390431795072,
            -1.734723475976807e-18,
            -0.08431626905590844
          ],
          "force_torque_contact_frame": [
            2.86087392304067,
            0.2715041883546857,
            -1.9033567727040461,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6327053371379098,
            -0.9473905955579486,
            1.271571030223176
          ],
          "distance_m": -0.0003201504607260578,
          "contact_frame": [
            -0.14329695660090114,
            0.14798457466079734,
            0.9785532933322449,
            0.021441820713097606,
            0.9889896691383904,
            -0.146422958111235,
            -0.989447436983606,
            -3.469446951953614e-18,
            -0.14489226841544434
          ],
          "force_torque_contact_frame": [
            3.8934024793645556,
            -0.2554473382607618,
            1.0755047685760797,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 98,
      "physics_step": 653,
      "sim_time_s": 3.2649999999999526,
      "qpos": [
        -0.6575426641211647,
        -0.9346598413502003,
        1.3120488280878333,
        0.8102446357825881,
        0.4318803435718668,
        -0.3510694153521857,
        -0.18366617714228828,
        -0.31177233725567494,
        -0.02708586414232005,
        0.4582569609218405,
        -0.2592062204426677,
        -0.12373998550507558,
        1.049262536324401,
        0.5440131308496561,
        -2.975133787967231,
        0.4410704791310075,
        -0.5331690171071894,
        0.39179456817001607,
        1.5730395415260914,
        0.6060975101392176,
        0.34671990772774086
      ],
      "qvel": [
        -0.0007887572795361119,
        0.17472152561641693,
        -0.04845324123641192,
        -2.749707386187429,
        -0.593898655955206,
        2.7877431634740337,
        -0.17582019638465107,
        0.4864371178911803,
        -0.4499884062413247,
        0.09989462418559786,
        2.048902793115011,
        0.009218934720313314,
        0.48094567159145335,
        -0.0548757042777654,
        0.024106029095422022,
        -0.0008790994050080809,
        0.02226944643638512,
        0.012495430616681076,
        -1.2037971255389055,
        0.585314448948957
      ],
      "target_rad": [
        -1.2719477415084839,
        -0.3173990547657013,
        -0.05558675527572632,
        -0.20618148148059845,
        0.14841094613075256,
        1.3780944347381592,
        0.6839311122894287,
        -4.8382439613342285,
        1.3901448249816895,
        -4.324117183685303,
        2.0960209369659424,
        2.1296164989471436,
        0.2554774284362793,
        0.4032247066497803
      ],
      "policy_call": 163,
      "body_poses": [
        [
          -0.6575426641211647,
          -0.9346598413502003,
          1.3120488280878333,
          0.8102446357825881,
          0.4318803435718668,
          -0.3510694153521857,
          -0.18366617714228828
        ],
        [
          -0.6498869114588418,
          -0.9256194503346359,
          1.327112386148897,
          -0.02950493520223664,
          -0.6254919368734442,
          -0.5467992971345415,
          -0.5557875712519945
        ],
        [
          -0.6300471009216614,
          -0.9250878410643048,
          1.3329945039165452,
          -0.4736686357749092,
          -0.4214738756164203,
          0.0006479114116716587,
          -0.7733029004645032
        ],
        [
          -0.6469949334857417,
          -0.8993818489200817,
          1.3373789011682822,
          -0.7309168863114996,
          0.3878829650127394,
          -0.1526857545885125,
          -0.5403650350488688
        ],
        [
          -0.6705833981269471,
          -0.8834194006093878,
          1.3062535824677608,
          -0.1155138496800533,
          -0.017431961188600437,
          -0.9088069060739921,
          0.4005280074269857
        ],
        [
          -0.670462142725456,
          -0.8358875863689065,
          1.2928106686416594,
          -0.07359061910942442,
          0.14005769100190354,
          -0.3926193797974735,
          -0.9059902243279196
        ],
        [
          -0.6633753304141627,
          -0.9606791785923741,
          1.3470685047802666,
          0.2364631004390833,
          0.767204584290434,
          0.5707936886057017,
          -0.17226982620986156
        ],
        [
          -0.7112404295941654,
          -0.9488512018745108,
          1.3387600002668063,
          -0.585645189136485,
          0.18148640432851332,
          -0.2294654133754089,
          -0.7559285823076485
        ],
        [
          -0.7292671072098136,
          -0.9608656622402771,
          1.3292534959739066,
          0.22686858615277414,
          -0.5715139463195217,
          -0.32588185609120446,
          0.718124967989472
        ],
        [
          -0.738949172284678,
          -0.9763924005785743,
          1.3432477095087982,
          -0.2677998790297522,
          0.015658844476314368,
          -0.4040652448895807,
          0.8745108937306842
        ],
        [
          -0.6496905303147469,
          -0.9452016776293487,
          1.2981038045113118,
          -0.09072352431844483,
          -0.5612571944881276,
          -0.6125520354025749,
          -0.5491262220061245
        ],
        [
          -0.6308948234246723,
          -0.9419115738930657,
          1.306128554968921,
          0.8954554438844076,
          0.02077136692598725,
          0.3350834740780312,
          -0.29231346827267857
        ],
        [
          -0.6266585094577055,
          -0.9503389290235974,
          1.276492709621147,
          0.3964579295561496,
          0.2223602063077536,
          0.8698735597640301,
          -0.1915647116936695
        ],
        [
          -0.596893352687997,
          -0.9238562664423402,
          1.290374529008099,
          0.047370105637862814,
          0.32122284253124916,
          -0.3011508162206636,
          -0.8965936339377111
        ],
        [
          -0.5480311692850027,
          -0.9254120372313057,
          1.2974503053149327,
          0.08989180067129353,
          -0.5538975342463875,
          0.7066269120841242,
          -0.43103989704701345
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.75524209378665,
            -0.9510849095816236,
            1.2564800948140882
          ],
          "distance_m": -0.0002956366830589175,
          "contact_frame": [
            -0.08365397280323118,
            0.1490045550377313,
            0.9852916600744391,
            0.012605544874771958,
            0.9888365095292588,
            -0.14847039321158417,
            -0.9964151308930665,
            -1.734723475976807e-18,
            -0.08459838608007622
          ],
          "force_torque_contact_frame": [
            2.9284578676592536,
            0.5120379612086136,
            -1.793343144515791,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6317557202472829,
            -0.9462320837681848,
            1.2715591884601756
          ],
          "distance_m": -0.0002725912603391307,
          "contact_frame": [
            -0.14332587958446422,
            0.14795765230988547,
            0.9785531285343105,
            0.02144215955912594,
            0.9889936972109312,
            -0.14639569894807003,
            -0.9894432404310926,
            0.0,
            -0.14492092314507024
          ],
          "force_torque_contact_frame": [
            3.674016134590574,
            -0.34222952865718836,
            0.9286139590877056,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 99,
      "physics_step": 660,
      "sim_time_s": 3.299999999999952,
      "qpos": [
        -0.6578424359874858,
        -0.9321207520617495,
        1.3116169019253388,
        0.8144996488621453,
        0.4138844353401634,
        -0.360198991800192,
        -0.18853827858745767,
        -0.3147698623301647,
        -0.017164524652074825,
        0.44946141386802047,
        -0.2657978898175483,
        -0.03944670467412004,
        1.050235933152937,
        0.558924648264704,
        -2.9758068894836662,
        0.4416030219837484,
        -0.5334094023920698,
        0.392543740439479,
        1.5730470173129285,
        0.5571238880270433,
        0.37250920054155423
      ],
      "qvel": [
        -0.018526970598758855,
        -1.5017660937111446e-05,
        -0.009895801488966356,
        0.34867011355031147,
        -0.8231486069396979,
        -0.5814908993686101,
        0.023713255946966695,
        -0.22215383791498985,
        -0.06380235528103564,
        -0.5115556661405638,
        2.1812567325251235,
        0.0327535499070469,
        0.46615319455253407,
        -0.0160759750847174,
        0.011461828483179426,
        -0.006704593848786942,
        0.01680606566543607,
        -0.005527429765827134,
        -0.9919673577263222,
        1.0625205020652728
      ],
      "target_rad": [
        -1.370678186416626,
        -0.7149321436882019,
        0.08443009853363037,
        -0.2073153853416443,
        -0.0826910138130188,
        1.7942757606506348,
        0.818450927734375,
        -5.36836051940918,
        1.419506311416626,
        -4.746779441833496,
        2.4357595443725586,
        2.0216028690338135,
        0.9801245927810669,
        0.6689559817314148
      ],
      "policy_call": 165,
      "body_poses": [
        [
          -0.6578424359874858,
          -0.9321207520617495,
          1.3116169019253388,
          0.8144996488621453,
          0.4138844353401634,
          -0.360198991800192,
          -0.18853827858745767
        ],
        [
          -0.6499548396404423,
          -0.9228001644751276,
          1.3263872259199645,
          -0.0482987999262012,
          -0.631114182209858,
          -0.5483167419501815,
          -0.5465444770889277
        ],
        [
          -0.6301209143729093,
          -0.9225717559623028,
          1.332308647880371,
          -0.48704400120392344,
          -0.4120867769664928,
          -0.004789950308686103,
          -0.7700322626466253
        ],
        [
          -0.6465967079339537,
          -0.8964314913626552,
          1.3358420305647485,
          -0.7332802056318575,
          0.39928739610655173,
          -0.15994492364591187,
          -0.5265807979207504
        ],
        [
          -0.6693782457715476,
          -0.8807397286802606,
          1.303986560044229,
          -0.1153497163825069,
          -0.02682406593368719,
          -0.9023678109269737,
          0.4143757307325347
        ],
        [
          -0.6681645455663681,
          -0.8336188775149779,
          1.2892165797710122,
          -0.04461541305751486,
          0.12349962963508755,
          -0.41202019946799096,
          -0.9016632750800382
        ],
        [
          -0.664391154812001,
          -0.9568124303547052,
          1.3474615523921047,
          0.24703936631339704,
          0.7711780912262169,
          0.5570497075932319,
          -0.18425939969092245
        ],
        [
          -0.7119015403676813,
          -0.9439457128785281,
          1.338674582166888,
          -0.5876034173407574,
          0.18662929464702435,
          -0.24525391181903305,
          -0.7481592404337998
        ],
        [
          -0.7301785456693228,
          -0.9559828651094449,
          1.329689036497119,
          0.22439659714965535,
          -0.5750290047531307,
          -0.3090577205364152,
          0.7235130518913359
        ],
        [
          -0.739995164277828,
          -0.9709000171731357,
          1.3442414443186403,
          -0.25950939205542123,
          0.01983181606511719,
          -0.3910463012582848,
          0.882804828248464
        ],
        [
          -0.650268692016709,
          -0.9433208738934579,
          1.2980358241617733,
          -0.1076396635106805,
          -0.5675242337733084,
          -0.6138995068977486,
          -0.5380123998106625
        ],
        [
          -0.6313971014055055,
          -0.94027179440159,
          1.3059772460782444,
          0.8919884777045388,
          0.010786127763450538,
          0.329408553230961,
          -0.3094030060430817
        ],
        [
          -0.6273572929826893,
          -0.9497663174464024,
          1.2766381257768709,
          0.3980414487895121,
          0.2273796777842501,
          0.8634027892146554,
          -0.2107062190649115
        ],
        [
          -0.59692069047,
          -0.9236338502789911,
          1.2897036633333105,
          0.018798110353951708,
          0.3247591041660316,
          -0.3120346614854844,
          -0.892643560073133
        ],
        [
          -0.5484302166087855,
          -0.9278785025273568,
          1.2981094275463565,
          0.09222480640216166,
          -0.518917154344885,
          0.7265609962140295,
          -0.44082727999883137
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6711755713539315,
            -0.8452354417947698,
            1.2496724706285074
          ],
          "distance_m": -0.0019177045201093752,
          "contact_frame": [
            -0.14331802805186905,
            0.14796056601404597,
            0.9785538379364351,
            0.021441416620585442,
            0.9889932613040411,
            -0.1463987525510356,
            -0.9894443938335425,
            0.0,
            -0.14491304810600683
          ],
          "force_torque_contact_frame": [
            2.1715978601357073,
            -0.9484552300934193,
            0.9921427841731477,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6528476658222868,
            -0.8431949962545771,
            1.2529492851744013
          ],
          "distance_m": -0.00015582216096852994,
          "contact_frame": [
            -0.2713689172026313,
            0.0243248252748405,
            0.9621679757982076,
            0.006602955259849273,
            0.9997041076615363,
            -0.023411495178393634,
            -0.9624527581954909,
            -8.673617379884035e-19,
            -0.27144923695212725
          ],
          "force_torque_contact_frame": [
            0.22892830709037001,
            -0.22892830709037001,
            0.0,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6323291005555969,
            -0.9457075252146558,
            1.2714826937722805
          ],
          "distance_m": -0.000102719292983673,
          "contact_frame": [
            -0.14329835693813034,
            0.14798327119768456,
            0.9785532853884171,
            0.021441837156335262,
            0.9889898641774003,
            -0.14642163833849375,
            -0.9894472338220942,
            0.0,
            -0.14489365576796873
          ],
          "force_torque_contact_frame": [
            3.0923343824510066,
            -0.9654367845002823,
            -1.0088308135298207,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 100,
      "physics_step": 667,
      "sim_time_s": 3.334999999999951,
      "qpos": [
        -0.6582766727209428,
        -0.9324761355043033,
        1.311363843915289,
        0.8060628075679278,
        0.42152951027512703,
        -0.3670896757456823,
        -0.19447568532814513,
        -0.3050005312431821,
        -0.05201948335296018,
        0.4558618621907689,
        -0.2775424042288391,
        0.0010080974711429722,
        1.0511624402992803,
        0.5855602411582801,
        -2.976138366749587,
        0.44197071410421135,
        -0.5334764662602031,
        0.3927677289044938,
        1.5728634402229766,
        0.6018705039367115,
        0.4327871676370173
      ],
      "qvel": [
        0.002617124154967035,
        -0.006472961022409927,
        -0.0005725877334939404,
        0.2530437629268315,
        -0.1977363220752797,
        -0.27956036791338557,
        0.3972177406262876,
        -1.2945953419912402,
        0.2878188083576809,
        -0.11606968412635238,
        0.3970353870901772,
        0.017414820858247904,
        0.7563421640578886,
        -0.009238540663062995,
        0.002862617297422298,
        0.0005119674882784142,
        0.0019489232226084878,
        -0.005287132422078211,
        2.818166686101381,
        1.888486173204923
      ],
      "target_rad": [
        -1.1374664306640625,
        -0.6104944944381714,
        0.1518142819404602,
        -0.18801818788051605,
        -0.11699599027633667,
        1.716117024421692,
        0.8019636869430542,
        -5.24498987197876,
        1.2439076900482178,
        -4.53800630569458,
        2.282135248184204,
        2.0023820400238037,
        1.177392601966858,
        0.6056849360466003
      ],
      "policy_call": 166,
      "body_poses": [
        [
          -0.6582766727209428,
          -0.9324761355043033,
          1.311363843915289,
          0.8060628075679278,
          0.42152951027512703,
          -0.3670896757456823,
          -0.19447568532814513
        ],
        [
          -0.6504981174384113,
          -0.9235730052472712,
          1.3264462293149173,
          -0.04666268339777163,
          -0.633582161840248,
          -0.534912783662888,
          -0.5570139603726084
        ],
        [
          -0.6307249118129648,
          -0.9238490740999524,
          1.332565389819626,
          -0.5009231366527782,
          -0.41528080261430245,
          0.004829396814520602,
          -0.7593382270585161
        ],
        [
          -0.6461338240964231,
          -0.8970982839747615,
          1.3363350913885408,
          -0.7428858688810229,
          0.3920335027367127,
          -0.1689733344138394,
          -0.5156339116135983
        ],
        [
          -0.6686251426174515,
          -0.8804301823156648,
          1.3047706198631428,
          -0.10133820579997921,
          -0.03604902376282562,
          -0.9035807727451927,
          0.4146960610569968
        ],
        [
          -0.6663430598566763,
          -0.8333101045539337,
          1.290125130113688,
          -0.03559357045672249,
          0.1011291659103562,
          -0.4147470877694297,
          -0.9035988284250897
        ],
        [
          -0.665694532062412,
          -0.9578269638604783,
          1.3465734239567484,
          0.24200246183234939,
          0.7790017339049864,
          0.5516571175700133,
          -0.17396991600403733
        ],
        [
          -0.7128788319689932,
          -0.9441160405503356,
          1.3373185644597494,
          -0.5866348626562323,
          0.18149374003868596,
          -0.23641223643064543,
          -0.7530131570623013
        ],
        [
          -0.7310566894178574,
          -0.9561037641298111,
          1.328069674279795,
          0.22768595077263407,
          -0.5714765148169375,
          -0.3191608117398619,
          0.7209092016911703
        ],
        [
          -0.7407592331456363,
          -0.9714087693410338,
          1.3422921023669743,
          -0.26341838194743883,
          0.018338685178145422,
          -0.40043657102512775,
          0.8774537032024924
        ],
        [
          -0.6506395514356732,
          -0.9434874508321064,
          1.2976643799394332,
          -0.10985236282496563,
          -0.5684779089031909,
          -0.6036480009220581,
          -0.5480642448232055
        ],
        [
          -0.6318551918261005,
          -0.940854590854698,
          1.305953884291179,
          0.8923215312967357,
          0.024729989852375407,
          0.32573286651903105,
          -0.3115265832243614
        ],
        [
          -0.6274820402825579,
          -0.9497798788931489,
          1.2764841578077537,
          0.4008480739586171,
          0.23865937262396703,
          0.8610483164994605,
          -0.20238162494615541
        ],
        [
          -0.5969239087819986,
          -0.9243221226446692,
          1.2905591047134268,
          0.02729244941540923,
          0.32284517799997253,
          -0.3121033347376239,
          -0.8930944080514265
        ],
        [
          -0.5483055523133242,
          -0.9278468946127416,
          1.2985485600677047,
          0.10381763348541934,
          -0.5041858616270785,
          0.7376714149424395,
          -0.43687458096079057
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6714951176917809,
            -0.8455516522296801,
            1.250279968165893
          ],
          "distance_m": -0.0007307772311937473,
          "contact_frame": [
            -0.1432689622313742,
            0.14802962451231355,
            0.9785505785230973,
            0.021444304143559627,
            0.9889829271866848,
            -0.14646812469972795,
            -0.9894514370503201,
            -3.469446951953614e-18,
            -0.14486494993288201
          ],
          "force_torque_contact_frame": [
            1.0835942816509343,
            0.3740079894633309,
            0.3357998169569696,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7568609985318766,
            -0.9466427326659355,
            1.2556329305181289
          ],
          "distance_m": -0.0003703797026094737,
          "contact_frame": [
            -0.0866509428786195,
            0.1491561151332613,
            0.9850096788441215,
            0.013070731666726008,
            0.9888136595528773,
            -0.14858230936199351,
            -0.9961529852748234,
            1.734723475976807e-18,
            -0.08763121548887323
          ],
          "force_torque_contact_frame": [
            2.919119443477909,
            -0.2032444922668134,
            -2.5582136525337362,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6323292298914145,
            -0.9455394653403149,
            1.2713979687041064
          ],
          "distance_m": -0.0002187572572736244,
          "contact_frame": [
            -0.1433204640617235,
            0.14796269326853506,
            0.9785531595073687,
            0.021442096237503937,
            0.9889929430489994,
            -0.14640080296303096,
            -0.9894440262541757,
            0.0,
            -0.14491555786017646
          ],
          "force_torque_contact_frame": [
            3.191888483070421,
            -0.9118509388434847,
            1.1454334171452407,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 101,
      "physics_step": 673,
      "sim_time_s": 3.3649999999999505,
      "qpos": [
        -0.6581922781287752,
        -0.932552389034235,
        1.3113523464832897,
        0.8038043815146994,
        0.42437866670376384,
        -0.367675360927119,
        -0.1965097770382459,
        -0.29266115185593705,
        -0.08797658372954008,
        0.465164865094699,
        -0.2783736618977909,
        -0.0034306881205636666,
        1.0513171328769804,
        0.6020824527360017,
        -2.976468148384855,
        0.4415686948197306,
        -0.5334796488675767,
        0.39274950895270055,
        1.5727122282431418,
        0.7148665777533766,
        0.4789352437940488
      ],
      "qvel": [
        0.0004855866451294157,
        -0.0009956067135663278,
        -0.00030444568754256843,
        0.18021347851857222,
        -0.05409196471062698,
        -0.14316444987457555,
        0.35514478954495093,
        -0.9783127930460719,
        0.27256175257102355,
        0.028359586485700135,
        -0.47160455473376245,
        -0.004605300533593926,
        0.3844080506901944,
        -0.010559887140956193,
        -0.021260078756591305,
        -0.0010554829635454214,
        -0.004871452722824396,
        -0.003816764014434262,
        4.089211064052128,
        1.1775239775903303
      ],
      "target_rad": [
        -0.9191491007804871,
        -0.4554283916950226,
        0.20196533203125,
        -0.13886888325214386,
        -0.1549062728881836,
        1.5784603357315063,
        0.6885696649551392,
        -4.801621913909912,
        1.1060216426849365,
        -4.163069248199463,
        2.0728204250335693,
        1.9702610969543457,
        1.0777661800384521,
        0.47516530752182007
      ],
      "policy_call": 168,
      "body_poses": [
        [
          -0.6581922781287752,
          -0.932552389034235,
          1.3113523464832897,
          0.8038043815146994,
          0.42437866670376384,
          -0.367675360927119,
          -0.1965097770382459
        ],
        [
          -0.6504212926461788,
          -0.9237865678228366,
          1.3265188280501883,
          -0.041995943674371726,
          -0.6371559643088252,
          -0.5279676631760135,
          -0.5599274636067161
        ],
        [
          -0.6306228109746926,
          -0.9243079811925733,
          1.3325394801412567,
          -0.5135958111235783,
          -0.42142836462973704,
          0.004070993501843485,
          -0.7473960819362968
        ],
        [
          -0.6451303581320464,
          -0.8970797879204871,
          1.3364646000903897,
          -0.7454976923029119,
          0.3853440566608328,
          -0.18559419238065772,
          -0.5111731062191924
        ],
        [
          -0.6680592608579528,
          -0.8800612172932888,
          1.3054060335104107,
          -0.08386807078155828,
          -0.04080759497765367,
          -0.9029947363871423,
          0.4194060001390481
        ],
        [
          -0.6650573691162812,
          -0.833105335155635,
          1.2903682883787078,
          -0.0423564808393504,
          0.08458737263304104,
          -0.41926152058148,
          -0.902923408867912
        ],
        [
          -0.6657454033942165,
          -0.958156557956536,
          1.3463492105538437,
          0.23931776771445112,
          0.7808563675242559,
          0.5510286455466001,
          -0.171341095887928
        ],
        [
          -0.7128733229091141,
          -0.9442471141722109,
          1.3371033154750511,
          -0.5823517732414913,
          0.17775006790741618,
          -0.23459684235473643,
          -0.757783377436182
        ],
        [
          -0.7309864450071891,
          -0.9563610361391752,
          1.3278919263263655,
          0.22725238480802762,
          -0.5661514700891325,
          -0.324363981693649,
          0.7229224535832461
        ],
        [
          -0.7404170584349797,
          -0.9718858422996323,
          1.3420589275636003,
          -0.2666181828522166,
          0.022743592062342263,
          -0.40485998511734106,
          0.8743488240075984
        ],
        [
          -0.6505558214702407,
          -0.9434766336570947,
          1.2975829816060616,
          -0.1089495231431856,
          -0.5691239900310986,
          -0.6006791657656618,
          -0.5508288529053502
        ],
        [
          -0.6317814842598702,
          -0.9409563728044286,
          1.305929989905196,
          0.8921416341731664,
          0.02891695983033947,
          0.3260162668765064,
          -0.31138482259241573
        ],
        [
          -0.6273722301199081,
          -0.9496643330387674,
          1.2764006840128048,
          0.40050223874286855,
          0.24145473528934552,
          0.8611368058045576,
          -0.19935137134473638
        ],
        [
          -0.5967782778592001,
          -0.9243912634029212,
          1.2907283816876303,
          0.07509241292931201,
          0.3054424231697446,
          -0.32687602944124144,
          -0.8911891589474021
        ],
        [
          -0.5476575791131818,
          -0.9243384841230968,
          1.2959393479176626,
          0.09132621127001232,
          -0.526894847688167,
          0.7226609211688338,
          -0.437952663686547
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6712816257014201,
            -0.8454550260560856,
            1.2505363223440304
          ],
          "distance_m": -0.00026165110234182534,
          "contact_frame": [
            -0.1431559451171777,
            0.14814133019815826,
            0.9785502141764254,
            0.021443920043664244,
            0.9889662007809571,
            -0.1465810765618833,
            -0.9894678032512068,
            0.0,
            -0.14475312200167378
          ],
          "force_torque_contact_frame": [
            0.36339226825066523,
            -0.19647994063290283,
            0.1669123276177624,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6348624596784246,
            -0.8444181389252912,
            1.2574555012383397
          ],
          "distance_m": -0.00012945608549194823,
          "contact_frame": [
            -0.23826103995456854,
            0.05706217602060469,
            0.9695233802789703,
            0.013617882015391136,
            0.9983706266050667,
            -0.055413402905988,
            -0.9711056740279002,
            0.0,
            -0.2386498897356075
          ],
          "force_torque_contact_frame": [
            0.985969934673149,
            0.7260873055211605,
            0.2598826291519885,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7573962454583565,
            -0.9467219305295664,
            1.2556779002333258
          ],
          "distance_m": -0.00021581337442636147,
          "contact_frame": [
            -0.08651234941925202,
            0.14920259131636696,
            0.9850148222958081,
            0.01305398456095082,
            0.9888066478055664,
            -0.14863043679745166,
            -0.996165250791777,
            1.734723475976807e-18,
            -0.08749167454653213
          ],
          "force_torque_contact_frame": [
            2.6741918406935,
            0.1279589155332187,
            -1.4801637269909769,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.632202130483599,
            -0.9453676594274385,
            1.2713636392286711
          ],
          "distance_m": -0.00027151959371517486,
          "contact_frame": [
            -0.14332660180462597,
            0.14795698004139204,
            0.9785531243995746,
            0.021442167999540337,
            0.9889937977849159,
            -0.1463950182705968,
            -0.9894431356306526,
            0.0,
            -0.14492163866511557
          ],
          "force_torque_contact_frame": [
            3.0898070993478326,
            -1.6201816806976306,
            0.2719062205506857,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 102,
      "physics_step": 680,
      "sim_time_s": 3.3999999999999497,
      "qpos": [
        -0.6582566635399799,
        -0.9325506910489925,
        1.311331647682803,
        0.8025696490057563,
        0.42680808771629286,
        -0.3674605815816835,
        -0.1966965575153527,
        -0.2841504322301923,
        -0.11220771648299994,
        0.4721076320695958,
        -0.2754014333156892,
        -0.02924749767691471,
        1.0509303377205055,
        0.6076935505988338,
        -2.97676533993463,
        0.4408803893955499,
        -0.5335553667191374,
        0.3925388263008924,
        1.5726638752127593,
        0.8457718344087799,
        0.49867758693128766
      ],
      "qvel": [
        -0.002727133582114915,
        0.0012413102631110156,
        -0.001165090821860417,
        0.06464115330205006,
        0.03158273364377714,
        -0.025551686891140388,
        0.19771659546948006,
        -0.6152172094216929,
        0.1807033022924038,
        0.09480495033939057,
        -0.8349541043518416,
        -0.013002077800327227,
        0.0372042021084938,
        -0.005819040421182897,
        -0.01698698062044828,
        -0.002338211962264328,
        -0.003812436833884815,
        -8.036140821747207e-05,
        3.2899008595632484,
        0.1471018259050074
      ],
      "target_rad": [
        -0.8789153099060059,
        -0.41349342465400696,
        0.19638937711715698,
        -0.1613166779279709,
        -0.16853898763656616,
        1.5422656536102295,
        0.6486086249351501,
        -4.661406517028809,
        1.0878565311431885,
        -4.039381980895996,
        2.032581090927124,
        1.9803698062896729,
        0.9886136054992676,
        0.43353408575057983
      ],
      "policy_call": 170,
      "body_poses": [
        [
          -0.6582566635399799,
          -0.9325506910489925,
          1.311331647682803,
          0.8025696490057563,
          0.42680808771629286,
          -0.3674605815816835,
          -0.1966965575153527
        ],
        [
          -0.6505166575368261,
          -0.9238543289965625,
          1.326553854951271,
          -0.03798372505228172,
          -0.6388056619129084,
          -0.5241516035953951,
          -0.5619160608022702
        ],
        [
          -0.6306999652994926,
          -0.9244838413448976,
          1.3325038484785028,
          -0.5208726361510024,
          -0.4256741943749965,
          0.002838531969183218,
          -0.7399223742316245
        ],
        [
          -0.644673655993203,
          -0.8969925636307577,
          1.3365307105372963,
          -0.7461721550864356,
          0.3807714204091115,
          -0.196389284888355,
          -0.5095797181544157
        ],
        [
          -0.6679744169670238,
          -0.87980403548593,
          1.305844721508664,
          -0.0731235368436353,
          -0.04382712852651685,
          -0.9025095883068442,
          0.42214757393452973
        ],
        [
          -0.6645285026774115,
          -0.8329566589155147,
          1.2905656841313173,
          -0.05702004544452631,
          0.07928887816408504,
          -0.42103313363536204,
          -0.9017721932939458
        ],
        [
          -0.6658268430182523,
          -0.9583445566572696,
          1.346185234899887,
          0.23773932801950654,
          0.7811564089639216,
          0.5519203867457524,
          -0.1692884028569124
        ],
        [
          -0.7129651088663512,
          -0.9444581667965443,
          1.3369574470030015,
          -0.5802429804366858,
          0.1761992121288648,
          -0.23266368232747048,
          -0.7603548725594795
        ],
        [
          -0.7310219998214366,
          -0.9566354193063682,
          1.3277192005266325,
          0.22692946645791862,
          -0.5637864983430054,
          -0.3278355925720363,
          0.7233060388122027
        ],
        [
          -0.7403281948401876,
          -0.9722948851350394,
          1.3418201176682107,
          -0.2686291135829113,
          0.024292580561396215,
          -0.40744968742861326,
          0.8724866887693208
        ],
        [
          -0.6505885852661081,
          -0.9433945014330725,
          1.2975163535513017,
          -0.10757961871349828,
          -0.5686514328248244,
          -0.5995357580577554,
          -0.5528282268425212
        ],
        [
          -0.6318289994834649,
          -0.9408943323045529,
          1.3059024787347493,
          0.8924484020017457,
          0.031185972004450738,
          0.32620827820612297,
          -0.31008296332508445
        ],
        [
          -0.6273709549948832,
          -0.9494499389317768,
          1.2763359869817863,
          0.4005762062998093,
          0.24211812534528848,
          0.8614946944685105,
          -0.1968359919535665
        ],
        [
          -0.5968231616042412,
          -0.9242156460419256,
          1.2908295602376079,
          0.13276257816401998,
          0.2845085173847173,
          -0.34389040160702633,
          -0.884968018098593
        ],
        [
          -0.5476364163043214,
          -0.9199890097771812,
          1.292502770531135,
          0.06895720560878611,
          -0.5661389806689261,
          0.6930230514097337,
          -0.44096554125749937
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6710186569239137,
            -0.8451724012356678,
            1.2506335323664592
          ],
          "distance_m": -6.311632763468811e-05,
          "contact_frame": [
            -0.14312852397094175,
            0.14816856536972367,
            0.9785501018661118,
            0.021443842606058215,
            0.9889621207287356,
            -0.14660861290527474,
            -0.9894717718258499,
            -3.469446951953614e-18,
            -0.14472599199803002
          ],
          "force_torque_contact_frame": [
            1.3216309796852344,
            -0.3768343439605485,
            0.4013163611352122,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7576626524796994,
            -0.9467638940359928,
            1.2556396246355126
          ],
          "distance_m": -0.0002591725016581386,
          "contact_frame": [
            -0.08650387990425634,
            0.1492059841512346,
            0.9850150521971589,
            0.013053010156462354,
            0.9888061358494199,
            -0.1486339282680565,
            -0.9961659990620868,
            0.0,
            -0.08748315445064103
          ],
          "force_torque_contact_frame": [
            2.473822279085948,
            0.2771434910167286,
            -0.7043312660209808,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6321995707146989,
            -0.9451315773801037,
            1.2713209475419138
          ],
          "distance_m": -0.0002859317881972548,
          "contact_frame": [
            -0.14333113421682078,
            0.14795276109835281,
            0.978553098430276,
            0.021442220944933157,
            0.9889944289445586,
            -0.1463907465572019,
            -0.9894424779263664,
            0.0,
            -0.14492612902762433
          ],
          "force_torque_contact_frame": [
            3.3586855729838154,
            -0.967179499160421,
            -0.5759794154214615,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 103,
      "physics_step": 687,
      "sim_time_s": 3.434999999999949,
      "qpos": [
        -0.6583585466154659,
        -0.932498364695928,
        1.3113045743300389,
        0.8023980383358056,
        0.4276938747413071,
        -0.3669602815980257,
        -0.19640643908262567,
        -0.27831517415830886,
        -0.1302617272874754,
        0.4766677844691643,
        -0.2747662065994573,
        -0.058228811150920774,
        1.0505506169767953,
        0.6077306051407727,
        -2.976775203144229,
        0.4404350738742198,
        -0.533612586503598,
        0.3924534546888606,
        1.572709553284486,
        0.9341949204053561,
        0.493334013207714
      ],
      "qvel": [
        -0.003144083249782546,
        0.0010867151405124962,
        -0.00034667612795027546,
        0.052344096547907164,
        0.04305289343898448,
        -0.027162208716945097,
        0.13169471286305331,
        -0.4009535213267653,
        0.0801357593218623,
        -0.03779809981991518,
        -0.8100014314087465,
        -0.007671596744399643,
        -0.00830504621459507,
        0.00042585384999387137,
        -0.009541057252546054,
        -0.001390077923829512,
        -0.0015064035880347775,
        0.0018108070904780764,
        1.9871078886587399,
        -0.306176352215407
      ],
      "target_rad": [
        -0.880321204662323,
        -0.40988919138908386,
        0.17993837594985962,
        -0.19050796329975128,
        -0.17831528186798096,
        1.5451076030731201,
        0.6479899883270264,
        -4.670345306396484,
        1.0778868198394775,
        -4.023938179016113,
        2.041508436203003,
        1.9934496879577637,
        0.9805912375450134,
        0.4354085326194763
      ],
      "policy_call": 171,
      "body_poses": [
        [
          -0.6583585466154659,
          -0.932498364695928,
          1.3113045743300389,
          0.8023980383358056,
          0.4276938747413071,
          -0.3669602815980257,
          -0.19640643908262567
        ],
        [
          -0.6506301385705754,
          -0.9238142186237986,
          1.3265396429577017,
          -0.03541127545535474,
          -0.639997261621052,
          -0.5223232776316031,
          -0.5624303870990259
        ],
        [
          -0.630794707574052,
          -0.9244920408882062,
          1.3324214993109316,
          -0.5264957958582719,
          -0.42844622905024965,
          0.00047566953990213837,
          -0.7343267525391376
        ],
        [
          -0.6443881641919772,
          -0.896812029326385,
          1.3364569543179947,
          -0.745938672437268,
          0.3782068048156127,
          -0.20515761443846015,
          -0.5083753170558267
        ],
        [
          -0.6679844102814178,
          -0.8795827659985956,
          1.306020618466282,
          -0.06471875360512125,
          -0.044933093218284384,
          -0.9015824882743249,
          0.4253722098382949
        ],
        [
          -0.6643092848455376,
          -0.832857808221953,
          1.2904234464853903,
          -0.0711593808801096,
          0.07707403566210155,
          -0.42330795763565787,
          -0.8998923872007395
        ],
        [
          -0.6658877853570758,
          -0.9583574340678517,
          1.3461186915447534,
          0.2372036663471204,
          0.7808212781551003,
          0.5527858716305315,
          -0.16876116963743243
        ],
        [
          -0.7130535592578419,
          -0.9445412139881358,
          1.3369262035762715,
          -0.5796501532495644,
          0.17584153382495854,
          -0.23200359197218529,
          -0.761091182534555
        ],
        [
          -0.7310911400538728,
          -0.9567369980891532,
          1.3276746892787077,
          0.22676288600319341,
          -0.5631963322704382,
          -0.32887775111738293,
          0.7233449451462298
        ],
        [
          -0.7403643444499836,
          -0.9724353880435362,
          1.3417540441314018,
          -0.26918375876203576,
          0.02468213737097444,
          -0.40814561128070503,
          0.871979389725378
        ],
        [
          -0.6506756019412273,
          -0.9433093908374942,
          1.2974718567771153,
          -0.10672186837934362,
          -0.5682972467201027,
          -0.5995467793330364,
          -0.553346493231282
        ],
        [
          -0.631919352707057,
          -0.9407937921124464,
          1.3058608303567747,
          0.8926351625224299,
          0.03159326433402308,
          0.32648891835998045,
          -0.30920756534309857
        ],
        [
          -0.6274512339780953,
          -0.9492998250631755,
          1.2762815585864113,
          0.4005134511976146,
          0.24180711662340099,
          0.8618199831741401,
          -0.19591990802820083
        ],
        [
          -0.5969381588279161,
          -0.9240442988945894,
          1.2908112360514272,
          0.17217007252568792,
          0.26938800794532247,
          -0.35528261444553344,
          -0.8783859238253409
        ],
        [
          -0.5480386284529875,
          -0.9171174089222565,
          1.289887047530278,
          0.048955205379606445,
          -0.598437472711725,
          0.6656402604278091,
          -0.44316929363195195
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6704630338322508,
            -0.8449665564834064,
            1.250600484878852
          ],
          "distance_m": -0.00022610627076616522,
          "contact_frame": [
            -0.14328306901552462,
            0.14813640863498506,
            0.9785323533589584,
            0.021462233414297947,
            0.9889669379897029,
            -0.14657342221610806,
            -0.9894490055937006,
            3.469446951953614e-18,
            -0.14488155620933055
          ],
          "force_torque_contact_frame": [
            1.414165999947572,
            -0.45681711821767446,
            0.3348449497191308,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7577876913070798,
            -0.9468039060430268,
            1.2556284075647213
          ],
          "distance_m": -0.0002722807897341517,
          "contact_frame": [
            -0.08650389549235442,
            0.14920627617309148,
            0.9850150065939133,
            0.013053038637317195,
            0.9888060917847135,
            -0.14863421891264997,
            -0.9961659973352737,
            0.0,
            -0.08748317411376585
          ],
          "force_torque_contact_frame": [
            2.4272802378593408,
            0.19774417753226092,
            -0.5934976749485789,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6322872637660308,
            -0.9449799679622866,
            1.2712790287262326
          ],
          "distance_m": -0.0002979672300116749,
          "contact_frame": [
            -0.1433323803660909,
            0.14795160113411962,
            0.9785530912834728,
            0.021442235495005714,
            0.988994602473568,
            -0.146389572084648,
            -0.9894422970924416,
            -3.469446951953614e-18,
            -0.14492736361513325
          ],
          "force_torque_contact_frame": [
            3.3014549720502555,
            -0.8853758587747402,
            -0.6562078433887959,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 104,
      "physics_step": 693,
      "sim_time_s": 3.4649999999999483,
      "qpos": [
        -0.6584547931763706,
        -0.9325492737229776,
        1.3113588278526969,
        0.8014814746985653,
        0.4288700557626801,
        -0.3674426430824064,
        -0.19668204043517631,
        -0.2752661384850379,
        -0.14087375414136402,
        0.4780307957903816,
        -0.279567097143717,
        -0.08172669001846208,
        1.0501727900911246,
        0.6101337384008952,
        -2.9767761718977863,
        0.4402716138906193,
        -0.5336157776194178,
        0.3925923577121693,
        1.5733492901191561,
        0.9668553377753062,
        0.4862270191654361
      ],
      "qvel": [
        -0.0032738710553427246,
        -0.0029298270220121094,
        0.002629905144996717,
        0.11147466346291432,
        -0.08096609155216539,
        -0.051032186864861516,
        0.08237426247762064,
        -0.3302441748689909,
        0.018472746614708678,
        -0.26150634322246513,
        -0.7721343350785765,
        -0.010374070302009448,
        0.15191253680675795,
        -0.0025403170055832685,
        -0.001987981020899066,
        -0.0005400282182666367,
        0.01254068236313458,
        0.02844025172050035,
        0.3885667916681453,
        -0.10589427057749747
      ],
      "target_rad": [
        -0.9185984134674072,
        -0.43039670586586,
        0.15651404857635498,
        -0.24680158495903015,
        -0.19746994972229004,
        1.5895967483520508,
        0.6674188375473022,
        -4.762345314025879,
        1.0744966268539429,
        -4.080334663391113,
        2.1079845428466797,
        2.0343315601348877,
        0.974347710609436,
        0.46708226203918457
      ],
      "policy_call": 173,
      "body_poses": [
        [
          -0.6584547931763706,
          -0.9325492737229776,
          1.3113588278526969,
          0.8014814746985653,
          0.4288700557626801,
          -0.3674426430824064,
          -0.19668204043517631
        ],
        [
          -0.6507488578627314,
          -0.9239087865086573,
          1.3266300603386876,
          -0.03422873673353206,
          -0.6404595229787852,
          -0.5204497850326373,
          -0.5637127054332691
        ],
        [
          -0.6309145691755168,
          -0.9246449292993542,
          1.3325087579890127,
          -0.5298472437719961,
          -0.429759936727174,
          0.0003464402113341723,
          -0.7311416928548493
        ],
        [
          -0.6442621622770358,
          -0.8968481677181016,
          1.336562374151316,
          -0.7468512119099541,
          0.376627775911653,
          -0.209171103073144,
          -0.5065690824750746
        ],
        [
          -0.6679099056289983,
          -0.8795002699686099,
          1.3062335831691008,
          -0.059541706141644814,
          -0.0447605257521287,
          -0.9013298305201037,
          0.4266799938815225
        ],
        [
          -0.664184519811876,
          -0.832824537722118,
          1.2905015292737134,
          -0.08154426254153264,
          0.07692272114857714,
          -0.4238914093492487,
          -0.8987488532941578
        ],
        [
          -0.6660513197011604,
          -0.9584990259133542,
          1.3460907556463884,
          0.23655648358757567,
          0.7812726169331649,
          0.5528235446880633,
          -0.16745225152744442
        ],
        [
          -0.713203101026247,
          -0.9446563100622336,
          1.336866400073431,
          -0.5791544169528449,
          0.17533848153645,
          -0.23077184265291434,
          -0.7619586175476206
        ],
        [
          -0.7312155895311298,
          -0.9568625236126573,
          1.327579818558529,
          0.22678959710017074,
          -0.562614503605691,
          -0.3304154690377409,
          0.7230885262540362
        ],
        [
          -0.7404597570651013,
          -0.9726168351982417,
          1.3416157379465916,
          -0.2700257203689883,
          0.024698485451259314,
          -0.4092733605473998,
          0.8711896530043621
        ],
        [
          -0.6507524884117772,
          -0.9433258520254832,
          1.2975100061915126,
          -0.10655870980081703,
          -0.5680813545562812,
          -0.5986150298148486,
          -0.5546069437456174
        ],
        [
          -0.6320094440758784,
          -0.9408393756121203,
          1.3059370889648287,
          0.8928323225067512,
          0.03312901730878269,
          0.32614781900686074,
          -0.30883735566868137
        ],
        [
          -0.627492751635892,
          -0.9492648308165128,
          1.2763421367938699,
          0.40095498547721625,
          0.24290680622148036,
          0.8616397601766262,
          -0.19444358255034322
        ],
        [
          -0.5969937959660507,
          -0.9240742992513882,
          1.2910135957167417,
          0.18543326073516153,
          0.26462766610289085,
          -0.3585322935343255,
          -0.8758089395747679
        ],
        [
          -0.5482556642469479,
          -0.9162392597182775,
          1.2892228774122667,
          0.041625573994559115,
          -0.6108294161694474,
          0.6544571927697377,
          -0.44366712607953074
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6706125892522968,
            -0.8448315877072221,
            1.2505664057892296
          ],
          "distance_m": -0.00020999447811302882,
          "contact_frame": [
            -0.1432756722814913,
            0.14808845197528786,
            0.9785406951802514,
            0.02145402198184977,
            0.988974120182911,
            -0.14652615653609238,
            -0.9894502547743819,
            0.0,
            -0.14487302484213885
          ],
          "force_torque_contact_frame": [
            0.8750708986763862,
            -0.3666120156207322,
            0.3230852093426618,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7579273263311499,
            -0.9467842289368509,
            1.2555856254602957
          ],
          "distance_m": -0.00032736082276097985,
          "contact_frame": [
            -0.08653683593136469,
            0.1491979131581277,
            0.9850133799782863,
            0.01305726063231616,
            0.9888073536889073,
            -0.1486254528521948,
            -0.9961630810122245,
            -1.734723475976807e-18,
            -0.08751637577180721
          ],
          "force_torque_contact_frame": [
            3.619364263894984,
            -0.08076257123260544,
            -1.2824946108992759,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6323627602052871,
            -0.9449875253725262,
            1.2713058539634117
          ],
          "distance_m": -0.00022606754357845145,
          "contact_frame": [
            -0.14329560920482362,
            0.14798582884638078,
            0.9785533009720362,
            0.021441804888235987,
            0.9889894814711883,
            -0.14642422799006025,
            -0.9894476324625542,
            -3.469446951953614e-18,
            -0.1448909335129245
          ],
          "force_torque_contact_frame": [
            1.461745302746918,
            -0.31704667419719645,
            -0.022856038550446545,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5319337767989823,
            -0.9029120069211074,
            1.2859589999742007
          ],
          "distance_m": -0.0005976077588184634,
          "contact_frame": [
            -0.23834881622907328,
            0.057115689621925654,
            0.9694986538418768,
            0.013635716408663325,
            0.9983675665800706,
            -0.05546412569409758,
            -0.9710838836270644,
            -1.734723475976807e-18,
            -0.23873854100203015
          ],
          "force_torque_contact_frame": [
            1.2008256021193748,
            -0.18494856806665874,
            0.007247401973123457,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 105,
      "physics_step": 700,
      "sim_time_s": 3.4999999999999476,
      "qpos": [
        -0.6585243687402651,
        -0.9325983275606208,
        1.3113798115710595,
        0.800472714059103,
        0.4302109694271044,
        -0.3678202149739076,
        -0.19715538361402477,
        -0.2726946126506849,
        -0.15077627418932657,
        0.4772987015788377,
        -0.2905693854970814,
        -0.10754705941613019,
        1.0501952513129829,
        0.6152831782299525,
        -2.976935751963046,
        0.4402584278476957,
        -0.5336812120428622,
        0.39302041796185266,
        1.5735728972612193,
        0.9688776522764542,
        0.4851842265510564
      ],
      "qvel": [
        -0.0010036398566046058,
        -0.0005553028228557406,
        -0.00045494208244944696,
        0.062105532138997374,
        -0.017142209049914637,
        -0.05193601151447379,
        0.0683561230395134,
        -0.24079430494848963,
        -0.04942564039157487,
        -0.3417490076696497,
        -0.6898833269560535,
        0.004174756666129802,
        0.14724506235326654,
        -0.0036469353330368754,
        -3.5723889477875025e-05,
        -0.0015892026684534793,
        0.007806377732642335,
        -0.0035337020651851543,
        -0.04324250826403107,
        -0.02170358654670401
      ],
      "target_rad": [
        -0.9307576417922974,
        -0.4413721561431885,
        0.11601448059082031,
        -0.26371264457702637,
        -0.1912776231765747,
        1.5675843954086304,
        0.7043249011039734,
        -4.793409824371338,
        1.0763105154037476,
        -4.05096960067749,
        2.1063151359558105,
        2.034747362136841,
        0.9339445233345032,
        0.45288366079330444
      ],
      "policy_call": 175,
      "body_poses": [
        [
          -0.6585243687402651,
          -0.9325983275606208,
          1.3113798115710595,
          0.800472714059103,
          0.4302109694271044,
          -0.3678202149739076,
          -0.19715538361402477
        ],
        [
          -0.6508366251840666,
          -0.9240107873711888,
          1.3266900288297734,
          -0.03299421419322429,
          -0.6408955352532864,
          -0.5185361358030346,
          -0.5650527148759062
        ],
        [
          -0.6310038410301553,
          -0.9248054719068859,
          1.332566179712204,
          -0.5328672284325605,
          -0.4311075556678121,
          0.00042377320580348765,
          -0.7281473839306132
        ],
        [
          -0.6441200895335389,
          -0.8969031412453947,
          1.3366495568505903,
          -0.7483020662157096,
          0.375163505498111,
          -0.21240689827891623,
          -0.504162346276672
        ],
        [
          -0.6677444484722661,
          -0.879393885707384,
          1.3063953584700545,
          -0.053723801675935656,
          -0.042598373542073464,
          -0.9012885399679,
          0.4277593943183314
        ],
        [
          -0.6641593455844699,
          -0.8327496685594894,
          1.2905377406179315,
          -0.09097891220594181,
          0.07663719535520072,
          -0.4242535640182528,
          -0.8976962132256783
        ],
        [
          -0.6661846587783704,
          -0.9586557882440147,
          1.3460169644782414,
          0.23566687624253913,
          0.7819171894234667,
          0.5527163710110207,
          -0.16604591395935653
        ],
        [
          -0.7133156541008618,
          -0.9447592145781655,
          1.3367673958255464,
          -0.5778374329414416,
          0.1743217431508236,
          -0.2296128305765437,
          -0.7635402929715829
        ],
        [
          -0.7312947046661621,
          -0.9570035310843714,
          1.3274661893620694,
          0.22661112744933903,
          -0.5611029053020629,
          -0.33252745796593225,
          0.7233508251716028
        ],
        [
          -0.7404599049743842,
          -0.972839557291749,
          1.341461880744399,
          -0.27140760040093076,
          0.025626713561413314,
          -0.41088130178085847,
          0.8699757133641817
        ],
        [
          -0.6508070301468516,
          -0.9433341667259506,
          1.2975077373768094,
          -0.10624019519271213,
          -0.5679729144955092,
          -0.5975228695544769,
          -0.5559552227331576
        ],
        [
          -0.6320755223124325,
          -0.9408832281200705,
          1.3059708050357202,
          0.8930170744777367,
          0.03492026426042126,
          0.32594947739257246,
          -0.30831480344400497
        ],
        [
          -0.6275121208339217,
          -0.9492084958877155,
          1.2763546728854387,
          0.4012453388919908,
          0.2439002275449343,
          0.8616017421894271,
          -0.19276227555495554
        ],
        [
          -0.5970319540106785,
          -0.9240783343668976,
          1.2911680214864427,
          0.1854219261969758,
          0.26530494722603826,
          -0.3574470615868345,
          -0.876049994250174
        ],
        [
          -0.5483001226440347,
          -0.9161928442460017,
          1.2894280050479445,
          0.042534738962490784,
          -0.6112853739078727,
          0.6543508804812895,
          -0.443109368938489
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6704873956118534,
            -0.844469555981934,
            1.2505186295789563
          ],
          "distance_m": -0.0002322258819306736,
          "contact_frame": [
            -0.14329360436404043,
            0.14804088485330752,
            0.9785452668937762,
            0.021449660609996233,
            0.988981241688562,
            -0.14647872080225932,
            -0.9894477525408192,
            -3.469446951953614e-18,
            -0.14489011350648523
          ],
          "force_torque_contact_frame": [
            1.1279818440395857,
            -0.5764514732331489,
            0.10221512189262114,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7581400297193983,
            -0.9467794035258469,
            1.2555556161852865
          ],
          "distance_m": -0.00034947185117571104,
          "contact_frame": [
            -0.08653988424020838,
            0.14919776443518865,
            0.9850131346957935,
            0.013057707269198058,
            0.9888073761292144,
            -0.14862526431710718,
            -0.9961628103460615,
            0.0,
            -0.08751945659929986
          ],
          "force_torque_contact_frame": [
            3.0410792155955653,
            0.14038955768616945,
            -1.1946148033328188,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.632370998956794,
            -0.944915346695774,
            1.271309751710441
          ],
          "distance_m": -0.00019471524069349046,
          "contact_frame": [
            -0.1432956092045411,
            0.14798582884709358,
            0.9785533009719697,
            0.021441804888299297,
            0.9889894814710815,
            -0.14642422799077132,
            -0.9894476324625935,
            -3.469446951953614e-18,
            -0.14489093351265445
          ],
          "force_torque_contact_frame": [
            2.400121012744433,
            -0.6504961626150683,
            -0.046869430545334656,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.531969958991943,
            -0.9028406155795697,
            1.2860710833516478
          ],
          "distance_m": -0.00035487678821479623,
          "contact_frame": [
            -0.2383475590740332,
            0.05711508787562691,
            0.9694989983596732,
            0.013635500358532893,
            0.9983676010052407,
            -0.055463559144838824,
            -0.9710841952237833,
            -1.734723475976807e-18,
            -0.23873727355940316
          ],
          "force_torque_contact_frame": [
            0.5715935541505774,
            0.10901975547811786,
            0.18007904859495044,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 106,
      "physics_step": 707,
      "sim_time_s": 3.534999999999947,
      "qpos": [
        -0.6585375318929867,
        -0.9325766316823744,
        1.3113386592319412,
        0.7999346423139018,
        0.43105384572865335,
        -0.36780500461034,
        -0.1975262734226922,
        -0.27070740480925115,
        -0.15676083134514107,
        0.47462069569518495,
        -0.3021303757919018,
        -0.12696898584548286,
        1.0503292082066082,
        0.6203678718519671,
        -2.977002368793039,
        0.4402805322328653,
        -0.5337013781711245,
        0.3930882411786904,
        1.5732950751649222,
        0.965034636006888,
        0.48176866889126685
      ],
      "qvel": [
        -0.00017905498382387458,
        0.0012946019967294998,
        -0.0014754323232944713,
        0.033022774074294534,
        -0.008550847872940423,
        -0.03213833722831118,
        0.04658948380092067,
        -0.12004923367889413,
        -0.09109139623119313,
        -0.3078909809482803,
        -0.44320949560017364,
        0.002910667610927419,
        0.1401612020788931,
        -0.0008299086092781903,
        0.0008964046199743846,
        0.00016462610126739683,
        -0.0008501408109033503,
        -0.008735638619290994,
        -0.1441352181829716,
        -0.15397305276188958
      ],
      "target_rad": [
        -0.9313726425170898,
        -0.4401625096797943,
        0.11052507162094116,
        -0.26046478748321533,
        -0.18474358320236206,
        1.5596693754196167,
        0.7086666226387024,
        -4.784529685974121,
        1.0857940912246704,
        -4.040865898132324,
        2.1015734672546387,
        2.0328967571258545,
        0.914055585861206,
        0.44825440645217896
      ],
      "policy_call": 176,
      "body_poses": [
        [
          -0.6585375318929867,
          -0.9325766316823744,
          1.3113386592319412,
          0.7999346423139018,
          0.43105384572865335,
          -0.36780500461034,
          -0.1975262734226922
        ],
        [
          -0.6508542012976497,
          -0.9240224582408958,
          1.326669756638711,
          -0.03191052397897469,
          -0.64138003498222,
          -0.5172462773112363,
          -0.5657469909714598
        ],
        [
          -0.6310180516497704,
          -0.9248558186742565,
          1.3325291659549343,
          -0.5345882932099618,
          -0.4323222217717051,
          0.00044564158193122205,
          -0.7261629670596103
        ],
        [
          -0.6439905259590827,
          -0.8968923343930822,
          1.3366532970332046,
          -0.7497447763799255,
          0.3741428910185157,
          -0.21410855900709502,
          -0.5020531768161889
        ],
        [
          -0.6675454649803326,
          -0.8792340083036134,
          1.3064316284519832,
          -0.049274767555573,
          -0.03994167191261766,
          -0.9014317971455392,
          0.42824919757324914
        ],
        [
          -0.6641687812414494,
          -0.8325971070028263,
          1.290506885314708,
          -0.09704971904858258,
          0.07634443015932438,
          -0.4242604222920583,
          -0.8970819216174201
        ],
        [
          -0.6662156450149749,
          -0.9587051404754713,
          1.3459182958608158,
          0.2349522117297579,
          0.7822798756893943,
          0.5527243905413115,
          -0.16532211707879957
        ],
        [
          -0.7133384414728412,
          -0.9447758198450682,
          1.3366762138028634,
          -0.5762373134887284,
          0.17327779334324245,
          -0.2291478791658737,
          -0.7651252278883315
        ],
        [
          -0.7312907131912997,
          -0.9570718530162743,
          1.3273915223158383,
          0.22617818069898837,
          -0.5593476684754997,
          -0.33414441881837603,
          0.7241002166269854
        ],
        [
          -0.7403602561209943,
          -0.9729739582991828,
          1.341374599181025,
          -0.2726764269615167,
          0.027167649494114723,
          -0.412085340247766,
          0.8689621150276619
        ],
        [
          -0.650816705599021,
          -0.9432847749782155,
          1.2974471327321593,
          -0.10581484452948292,
          -0.5680223436120952,
          -0.5968774395330658,
          -0.5566786847105565
        ],
        [
          -0.6320881448160839,
          -0.9408545190265339,
          1.3059226779658977,
          0.8930297350472298,
          0.03594619461361874,
          0.32608852654078685,
          -0.3080130456210134
        ],
        [
          -0.6275134225691552,
          -0.9491176773592348,
          1.2762909022726967,
          0.40112801512592744,
          0.24429274012479052,
          0.8617422494356465,
          -0.1918793061824195
        ],
        [
          -0.59703861419604,
          -0.9240147350754877,
          1.2911613167837575,
          0.1834557452929462,
          0.26629707270027175,
          -0.35610001647174794,
          -0.8767112619666158
        ],
        [
          -0.5482852057719991,
          -0.9162326265181022,
          1.289566339216604,
          0.04332436048393008,
          -0.611062676421665,
          0.6548901074413003,
          -0.44254305151993
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6704419964988771,
            -0.844225759011099,
            1.2504702459387012
          ],
          "distance_m": -0.00026777181721108486,
          "contact_frame": [
            -0.1432952016823936,
            0.14803750260974835,
            0.9785455446712079,
            0.02144939867346243,
            0.9889817479716544,
            -0.14647534084438282,
            -0.9894475268913199,
            -3.469446951953614e-18,
            -0.1448916544479046
          ],
          "force_torque_contact_frame": [
            1.2729591133967157,
            -0.6298455806272174,
            0.07112621853235968,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7583330705690431,
            -0.9468083929259672,
            1.2555584625750777
          ],
          "distance_m": -0.0003202047169050895,
          "contact_frame": [
            -0.08659506537921746,
            0.14920755319368617,
            0.9850068023734265,
            0.01306691013454285,
            0.9888058990873554,
            -0.1486342820132101,
            -0.9961578943679084,
            -1.734723475976807e-18,
            -0.08757539316780237
          ],
          "force_torque_contact_frame": [
            2.6892358095777062,
            0.13746306856448742,
            -1.0516560576303826,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6323726009158458,
            -0.9448101243913481,
            1.2712728798853947
          ],
          "distance_m": -0.0002352754056537213,
          "contact_frame": [
            -0.1432956092041124,
            0.14798582884636366,
            0.9785533009721428,
            0.021441804888127025,
            0.9889894814711907,
            -0.14642422799005883,
            -0.9894476324626593,
            0.0,
            -0.144890933512205
          ],
          "force_torque_contact_frame": [
            2.950958535359674,
            -0.6686906255885872,
            -0.0346714830354824,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5319310900330586,
            -0.9028806090207618,
            1.2861674718359026
          ],
          "distance_m": -0.0001910704571959993,
          "contact_frame": [
            -0.23834628304543634,
            0.05711447963120207,
            0.9694993478981211,
            0.013635281673808121,
            0.9983676358017906,
            -0.05546298655156346,
            -0.9710845114881097,
            0.0,
            -0.23873598712364108
          ],
          "force_torque_contact_frame": [
            0.22886327595098477,
            0.12986346289191217,
            0.0989998130590726,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 107,
      "physics_step": 713,
      "sim_time_s": 3.564999999999946,
      "qpos": [
        -0.6585415403163803,
        -0.9325205596036724,
        1.3112932414467147,
        0.799644809651989,
        0.43140734194951974,
        -0.36790429107038397,
        -0.19774305631471079,
        -0.2696860685597197,
        -0.1588595567288105,
        0.47160275098010795,
        -0.3103560439856014,
        -0.13638527143063195,
        1.0503782783210975,
        0.6245133608152426,
        -2.976998277557645,
        0.4403134499777188,
        -0.5336727179394282,
        0.3930080156246708,
        1.5731002602050066,
        0.959431553393562,
        0.4760373375608684
      ],
      "qvel": [
        -0.00010473984944683114,
        0.002152177322899247,
        -0.0014982512886306954,
        0.017666591967460288,
        -0.01864669712585555,
        -0.015405332403472565,
        0.02575276888808453,
        -0.03820241992666439,
        -0.1058236796295947,
        -0.2508704394816483,
        -0.22468276040998944,
        0.0009306983619627889,
        0.13819370662317582,
        0.0008211648122630086,
        0.0012921167587856227,
        0.0014753644619094747,
        -0.0037587526079956475,
        -0.004841713504309397,
        -0.2195264207709152,
        -0.20597042895625944
      ],
      "target_rad": [
        -0.9354875087738037,
        -0.4406508803367615,
        0.1055992841720581,
        -0.2556472718715668,
        -0.17640537023544312,
        1.5520694255828857,
        0.7132002115249634,
        -4.777579307556152,
        1.1015619039535522,
        -4.03652811050415,
        2.099907398223877,
        2.03074312210083,
        0.8924907445907593,
        0.44792938232421875
      ],
      "policy_call": 178,
      "body_poses": [
        [
          -0.6585415403163803,
          -0.9325205596036724,
          1.3112932414467147,
          0.799644809651989,
          0.43140734194951974,
          -0.36790429107038397,
          -0.19774305631471079
        ],
        [
          -0.6508607394183663,
          -0.9239829396112444,
          1.3266348301007609,
          -0.031486530555142334,
          -0.6416410661735246,
          -0.5165567540200701,
          -0.5661046373856619
        ],
        [
          -0.6310237866113835,
          -0.924839251241946,
          1.3324882080763116,
          -0.5352165182926711,
          -0.43286406253302023,
          0.0006916706271505174,
          -0.7253768010529588
        ],
        [
          -0.643936301857854,
          -0.8968519633383497,
          1.3366389508786158,
          -0.7509384179625178,
          0.3738059592492287,
          -0.21426470151171645,
          -0.5004510315143825
        ],
        [
          -0.6673884470969462,
          -0.8790860702073576,
          1.3064003859432112,
          -0.0471883291693435,
          -0.03823171476303777,
          -0.9016086060492857,
          0.42826804582451233
        ],
        [
          -0.6641563292443082,
          -0.8324430047660392,
          1.290463703088127,
          -0.09957828248320844,
          0.07626075054729288,
          -0.4240572548726227,
          -0.8969079708496032
        ],
        [
          -0.6662383809900124,
          -0.9586792051256807,
          1.345845919640288,
          0.2346563050725594,
          0.7825093812140409,
          0.5526320919882122,
          -0.16496441345467544
        ],
        [
          -0.7133533545970577,
          -0.9447257861862381,
          1.3366003065233645,
          -0.5748969297173375,
          0.1726307480862322,
          -0.22907523661875595,
          -0.7663006466034252
        ],
        [
          -0.7312848901674579,
          -0.9570694229185572,
          1.3273387379781332,
          0.22562399307432285,
          -0.5580203301361555,
          -0.3351383240731097,
          0.7248375187870735
        ],
        [
          -0.7402775653306062,
          -0.9730128060089025,
          1.341324456731368,
          -0.2736678610493213,
          0.028517649445273338,
          -0.4127080312413284,
          0.8683114225021529
        ],
        [
          -0.6508192711610662,
          -0.9432179168406402,
          1.2973942088459336,
          -0.10571789693188505,
          -0.5680755297430609,
          -0.5965101260089298,
          -0.5570364335878318
        ],
        [
          -0.6320926122597882,
          -0.9408013438310613,
          1.3058778649731326,
          0.8930047044322426,
          0.03645667101701566,
          0.3260939859065356,
          -0.308019839224405
        ],
        [
          -0.6275123288753826,
          -0.94903910940114,
          1.2762398788315108,
          0.40108735280394137,
          0.2445745477698748,
          0.8617517809845693,
          -0.19156224569003882
        ],
        [
          -0.597034199320388,
          -0.9239553986794873,
          1.2911359172200023,
          0.18075328589400333,
          0.2674039146531927,
          -0.35505253833937334,
          -0.8773602971900635
        ],
        [
          -0.5482481365188003,
          -0.9163441232198594,
          1.289725753329808,
          0.04354628806466996,
          -0.6109670456359887,
          0.6550970238016254,
          -0.44234701236571367
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6699088212875447,
            -0.8440430475499909,
            1.2505122661718102
          ],
          "distance_m": -0.0002842599814423326,
          "contact_frame": [
            -0.14442059304447258,
            0.14699015977039473,
            0.9785379835424667,
            0.0214615220761365,
            0.9891379544485562,
            -0.14541495844479577,
            -0.9892836273662163,
            3.469446951953614e-18,
            -0.14600652254314414
          ],
          "force_torque_contact_frame": [
            1.3459784257855205,
            -0.589686103955404,
            0.11497298612044737,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7584901583469574,
            -0.9468238554788289,
            1.2555578574469217
          ],
          "distance_m": -0.0002997231138869579,
          "contact_frame": [
            -0.08655825983869617,
            0.14921757471349337,
            0.9850085192780416,
            0.013062253542456869,
            0.9888043868210855,
            -0.1486447514571892,
            -0.996161154224601,
            0.0,
            -0.0875383048380003
          ],
          "force_torque_contact_frame": [
            2.5123207872243367,
            0.06717523393390201,
            -1.0181698513890398,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6323710252331848,
            -0.944722506007055,
            1.2712417357073427
          ],
          "distance_m": -0.00027074690050113843,
          "contact_frame": [
            -0.14329560920443232,
            0.14798582884610317,
            0.9785533009721354,
            0.02144180488813631,
            0.9889894814712297,
            -0.14642422798979424,
            -0.9894476324626128,
            -3.469446951953614e-18,
            -0.14489093351252275
          ],
          "force_torque_contact_frame": [
            3.239480273388768,
            -0.5846568906639302,
            -0.0052725367981032445,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.531873554752114,
            -0.902996489620769,
            1.2862657443482632
          ],
          "distance_m": -4.117525558501187e-05,
          "contact_frame": [
            -0.2383458781995702,
            0.05711428626127251,
            0.9694994588189005,
            0.013635212198075482,
            0.9983676468640525,
            -0.055462804503992,
            -0.9710846118302922,
            1.734723475976807e-18,
            -0.23873557897056505
          ],
          "force_torque_contact_frame": [
            0.04486665557054897,
            0.04486665557054897,
            0.0,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 108,
      "physics_step": 720,
      "sim_time_s": 3.5999999999999455,
      "qpos": [
        -0.65855079655023,
        -0.9324420054912803,
        1.3112460052043766,
        0.7993290456166486,
        0.43159403091383075,
        -0.36823543946445303,
        -0.19799578388327008,
        -0.2690673750043775,
        -0.15921611788298942,
        0.4677898375293463,
        -0.31798114967354774,
        -0.14017871958985373,
        1.0503904747692694,
        0.6293805607553006,
        -2.9769481384574155,
        0.4403627360372006,
        -0.533611004440199,
        0.392876275917456,
        1.5729997824959916,
        0.9503706170985232,
        0.4691140037010415
      ],
      "qvel": [
        -0.0004384275416677018,
        0.0023272351950131558,
        -0.0012082573017620957,
        0.014818536733747134,
        -0.029691294113883628,
        -0.00783456116777644,
        0.01484143327121739,
        -0.0017180276475334683,
        -0.10847781650086089,
        -0.1933495199469695,
        -0.03528841334012756,
        5.064080614659817e-05,
        0.13974884748247582,
        0.0015252738090384696,
        0.001388118332879099,
        0.0016068919777076746,
        -0.0029604889763314704,
        -0.0019004857180197356,
        -0.27939331897303865,
        -0.18185913752683935
      ],
      "target_rad": [
        -0.9409328103065491,
        -0.4439292848110199,
        0.10223168134689331,
        -0.25242018699645996,
        -0.17099350690841675,
        1.550166368484497,
        0.7179455757141113,
        -4.78242301940918,
        1.1118751764297485,
        -4.042501449584961,
        2.103501796722412,
        2.0295236110687256,
        0.8849915862083435,
        0.4514492154121399
      ],
      "policy_call": 180,
      "body_poses": [
        [
          -0.65855079655023,
          -0.9324420054912803,
          1.3112460052043766,
          0.7993290456166486,
          0.43159403091383075,
          -0.36823543946445303,
          -0.19799578388327008
        ],
        [
          -0.6508736970570617,
          -0.9239191944997378,
          1.3265976773013972,
          -0.031461744872805036,
          -0.6418105773281423,
          -0.5159539092125278,
          -0.5664635072161188
        ],
        [
          -0.6310391694174885,
          -0.9247997368232618,
          1.3324556768346416,
          -0.535434123448551,
          -0.4330552115589384,
          0.0012814549082662274,
          -0.7251012626260163
        ],
        [
          -0.6439207851790115,
          -0.8968016221907208,
          1.3366293505635736,
          -0.7523461406624071,
          0.3737948014961102,
          -0.21350042388898055,
          -0.49866852718423155
        ],
        [
          -0.6672172105825008,
          -0.8789210705573004,
          1.3063380428811007,
          -0.04616782542425431,
          -0.03706335140354297,
          -0.9018432920172145,
          0.4279877527709015
        ],
        [
          -0.6640899254177891,
          -0.8322632071261507,
          1.2904237767170967,
          -0.10013023008319759,
          0.07602730486596866,
          -0.42370370961452275,
          -0.8970334176591167
        ],
        [
          -0.6662867004462949,
          -0.9586170475183796,
          1.3457775361296112,
          0.23452715453771333,
          0.7828242097456256,
          0.5523413491227107,
          -0.16462777551155888
        ],
        [
          -0.7133862868348367,
          -0.9446254427350049,
          1.336511255451036,
          -0.5734197192704754,
          0.17205414854645035,
          -0.2291345906959416,
          -0.7675184264018217
        ],
        [
          -0.7312949631361327,
          -0.9570239084186045,
          1.3272787395730101,
          0.22489689141029234,
          -0.5566487434884198,
          -0.3360601098708607,
          0.7256908206394341
        ],
        [
          -0.7402050664909134,
          -0.9730056113041283,
          1.341273568299578,
          -0.2747470077686904,
          0.03001266517192777,
          -0.41318667753960103,
          0.8676923943167959
        ],
        [
          -0.6508271864897239,
          -0.943135892842818,
          1.297345047649378,
          -0.10589578281546397,
          -0.5681569231025902,
          -0.5960930836141032,
          -0.5573659745444886
        ],
        [
          -0.6321038031676027,
          -0.9407381292565001,
          1.3058412613211874,
          0.8929595137743761,
          0.03693963543371018,
          0.3259264314722673,
          -0.3082705489689338
        ],
        [
          -0.6275138547972492,
          -0.948961817657148,
          1.2762008611375437,
          0.40116407169808255,
          0.24504987396189032,
          0.8616130620753246,
          -0.1914180715373035
        ],
        [
          -0.5970245211606374,
          -0.9239087651905861,
          1.2911255380490574,
          0.17629046343900043,
          0.2691438983114333,
          -0.3537443321583674,
          -0.8782643007477977
        ],
        [
          -0.5481853855073341,
          -0.9165937370908535,
          1.2900168484900008,
          0.04418210594181594,
          -0.6099015652900345,
          0.6560842858385814,
          -0.4422911168529057
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6698605166647382,
            -0.8438199105869485,
            1.2504726474808396
          ],
          "distance_m": -0.0003095994736303351,
          "contact_frame": [
            -0.14441736570308739,
            0.14699278057165677,
            0.9785380661697293,
            0.021461433575119468,
            0.9891375649826533,
            -0.14541762069669537,
            -0.9892841004242822,
            0.0,
            -0.1460033172490219
          ],
          "force_torque_contact_frame": [
            1.3657652608255164,
            -0.5295401718476288,
            0.13913789424986928,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7586721229902883,
            -0.9468285296351673,
            1.2555515876735168
          ],
          "distance_m": -0.0002830270554035057,
          "contact_frame": [
            -0.0865169076598836,
            0.14922878061272107,
            0.9850104546276712,
            0.01305701601393835,
            0.9888026957067018,
            -0.1486564606600446,
            -0.9961648151896266,
            0.0,
            -0.08749663409650149
          ],
          "force_torque_contact_frame": [
            2.462334201050459,
            0.01999249000569059,
            -1.0310030090528697,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6323681786987171,
            -0.9446362991401576,
            1.2712155904052767
          ],
          "distance_m": -0.00029721704626603,
          "contact_frame": [
            -0.14329560920410167,
            0.14798582884596856,
            0.9785533009722042,
            0.021441804888066896,
            0.98898948147125,
            -0.14642422798966837,
            -0.9894476324626623,
            0.0,
            -0.14489093351218552
          ],
          "force_torque_contact_frame": [
            3.318801025851738,
            -0.5600304554321769,
            -0.009792598892851778,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 109,
      "physics_step": 727,
      "sim_time_s": 3.6349999999999447,
      "qpos": [
        -0.6585758850991548,
        -0.932357858791899,
        1.3112077238843411,
        0.798999890449434,
        0.4317628934082236,
        -0.36865247333210305,
        -0.19818005157854524,
        -0.26857456559320725,
        -0.1592474200266391,
        0.4641921520348298,
        -0.3237555453991237,
        -0.1403571371619318,
        1.050393480879961,
        0.6341634661761552,
        -2.976911818393474,
        0.44041092718914265,
        -0.5335761071723938,
        0.39280963761950155,
        1.5729515261550768,
        0.9405272315753183,
        0.4640641184226692
      ],
      "qvel": [
        -0.0008951423877346465,
        0.0024341166488103163,
        -0.0010674083997920393,
        0.017254819963184925,
        -0.02608296528496209,
        -0.00417895984850237,
        0.014116182977155577,
        -0.0007261832262249048,
        -0.09778637716955962,
        -0.14545209071834816,
        0.0017880578678004233,
        0.00010807762019068356,
        0.1316369867506063,
        0.0006513038397384952,
        0.0012232128131028333,
        0.0005496872635184046,
        -0.0014350042799374182,
        -0.0010970429487817974,
        -0.2725899334328539,
        -0.115909911984534
      ],
      "target_rad": [
        -0.9410662651062012,
        -0.444092720746994,
        0.10207527875900269,
        -0.2495795339345932,
        -0.1680787205696106,
        1.548642873764038,
        0.7192872762680054,
        -4.782294273376465,
        1.1154625415802002,
        -4.043721675872803,
        2.103182792663574,
        2.0283310413360596,
        0.8841190338134766,
        0.4522046446800232
      ],
      "policy_call": 181,
      "body_poses": [
        [
          -0.6585758850991548,
          -0.932357858791899,
          1.3112077238843411,
          0.798999890449434,
          0.4317628934082236,
          -0.36865247333210305,
          -0.19818005157854524
        ],
        [
          -0.6509057057301499,
          -0.9238481734988201,
          1.326570132701322,
          -0.03155153542126324,
          -0.6418847686698056,
          -0.5154222555648837,
          -0.5668583093072542
        ],
        [
          -0.6310751410794253,
          -0.9247505652096474,
          1.3324382154234435,
          -0.5355533603882687,
          -0.4330963428469126,
          0.001928582052520486,
          -0.7249871975150521
        ],
        [
          -0.6439350373533552,
          -0.8967451190419599,
          1.33662964152592,
          -0.753675894428372,
          0.3738887280366079,
          -0.21256776941379,
          -0.4969857227438297
        ],
        [
          -0.6670747432175166,
          -0.8787598316155207,
          1.3062802703113714,
          -0.045743947757643344,
          -0.0366019870594127,
          -0.902043489526373,
          0.4276509426973507
        ],
        [
          -0.6639898331019668,
          -0.8320881629544784,
          1.2903982467006077,
          -0.09976406229854466,
          0.0756186509158768,
          -0.42339066732752806,
          -0.897256537634196
        ],
        [
          -0.666357284192946,
          -0.9585458873501645,
          1.3457191806867512,
          0.23449324694033338,
          0.7831360914623091,
          0.5520289240265889,
          -0.16424020953032253
        ],
        [
          -0.7134399835876714,
          -0.9445181889324219,
          1.3364217028133278,
          -0.5719763441224757,
          0.17159431643108125,
          -0.22916657665491796,
          -0.7686879291865476
        ],
        [
          -0.7313238722641695,
          -0.9569715698444938,
          1.3272150846896376,
          0.22412072332930602,
          -0.555379790405481,
          -0.33696230790100223,
          0.7264844064655087
        ],
        [
          -0.7401553568836571,
          -0.9729896655041619,
          1.3412181376015377,
          -0.2758526194333141,
          0.031406461250626905,
          -0.41359293148884096,
          0.867098525870018
        ],
        [
          -0.6508479823968287,
          -0.9430495564710659,
          1.297307467751425,
          -0.10616455450996647,
          -0.5681642086798245,
          -0.5957059591418495,
          -0.5577211934146112
        ],
        [
          -0.6321297772057507,
          -0.9406690784333047,
          1.305819936179351,
          0.8929652076369093,
          0.03740751810459605,
          0.3256438837587236,
          -0.3084961531522888
        ],
        [
          -0.6275226655478681,
          -0.9488808691206602,
          1.2761789001671118,
          0.4013630858573255,
          0.2455192427598018,
          0.8614226808862151,
          -0.19125621454097758
        ],
        [
          -0.5970271799386953,
          -0.923856290105279,
          1.2911387359607853,
          0.1714611146389324,
          0.271132404263895,
          -0.35236129987207604,
          -0.8791642735446632
        ],
        [
          -0.5481348806826472,
          -0.916860179381596,
          1.2903657494156184,
          0.045483806542695654,
          -0.6079205606951841,
          0.6578459740658091,
          -0.44226970236705776
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.669804146032143,
            -0.8436153128014895,
            1.2504462187455625
          ],
          "distance_m": -0.00031692349861964583,
          "contact_frame": [
            -0.14438927164250823,
            0.1470192339220651,
            0.978538237930187,
            0.02146120542785102,
            0.9891336334676771,
            -0.14544439420140767,
            -0.989288206184694,
            3.469446951953614e-18,
            -0.1459754948745523
          ],
          "force_torque_contact_frame": [
            1.3763047235554855,
            -0.5149382445754863,
            0.17988466772280448,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.758855414775821,
            -0.9468312881877582,
            1.2555396223115587
          ],
          "distance_m": -0.0002767617714045969,
          "contact_frame": [
            -0.08648251620515948,
            0.1492381040449678,
            0.9850120622062898,
            0.013052659720950863,
            0.9888012885818178,
            -0.14866620252480284,
            -0.9961678585785798,
            1.734723475976807e-18,
            -0.08746197765295846
          ],
          "force_torque_contact_frame": [
            2.451891253479271,
            0.04350845614986332,
            -0.9962975577722115,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6327192578892158,
            -0.9449639034656074,
            1.2712111150931167
          ],
          "distance_m": -0.0003023210915559393,
          "contact_frame": [
            -0.1432954407013892,
            0.14799360071402412,
            0.9785521502821876,
            0.021442930961275825,
            0.9889883185092218,
            -0.14643191784611703,
            -0.989447632462671,
            -3.469446951953614e-18,
            -0.14489093351212623
          ],
          "force_torque_contact_frame": [
            3.3125784759445174,
            -0.5973284218007742,
            -0.08616630347015897,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 110,
      "physics_step": 733,
      "sim_time_s": 3.664999999999944,
      "qpos": [
        -0.6586088712297691,
        -0.9322830505549646,
        1.3111772041850938,
        0.798753993263913,
        0.4319160236512752,
        -0.36896250044375134,
        -0.19826063659869286,
        -0.26814685408311256,
        -0.15926622077291705,
        0.4614338646299771,
        -0.32740170353800657,
        -0.13997635436564512,
        1.0503909712695743,
        0.637884726974315,
        -2.976902449260098,
        0.4404410312496719,
        -0.5335693902569741,
        0.3927756410300054,
        1.5729243418821872,
        0.9330775760072356,
        0.4614408371851864
      ],
      "qvel": [
        -0.0012374230472860727,
        0.0025490366926516884,
        -0.000989845167147039,
        0.01710776693324084,
        -0.020509207107371516,
        -0.0010062131464360627,
        0.014389182618926298,
        -0.0005238817508164818,
        -0.08770143497784344,
        -0.1032955485414062,
        0.023902232000417092,
        -0.0002596617583046159,
        0.11836917529081535,
        0.00011940983360216942,
        0.0008756798222008968,
        3.8045372993729035e-05,
        -0.0009828838104288973,
        -0.0008035534137571116,
        -0.227881328783262,
        -0.06916748948513105
      ],
      "target_rad": [
        -0.9380505084991455,
        -0.4420771300792694,
        0.10438215732574463,
        -0.24283944070339203,
        -0.16261816024780273,
        1.5445828437805176,
        0.7193669080734253,
        -4.77492618560791,
        1.1215529441833496,
        -4.041928291320801,
        2.099191188812256,
        2.0256476402282715,
        0.8837605118751526,
        0.45214253664016724
      ],
      "policy_call": 183,
      "body_poses": [
        [
          -0.6586088712297691,
          -0.9322830505549646,
          1.3111772041850938,
          0.798753993263913,
          0.4319160236512752,
          -0.36896250044375134,
          -0.19826063659869286
        ],
        [
          -0.6509457132775888,
          -0.9237823345686874,
          1.326548080475032,
          -0.03158403382919566,
          -0.6419099949465011,
          -0.5150405616719416,
          -0.5671747764380132
        ],
        [
          -0.6311181893061178,
          -0.9246995139231209,
          1.3324241399703527,
          -0.5355971946979031,
          -0.4331305063703775,
          0.002417029759675199,
          -0.7249329399677032
        ],
        [
          -0.6439646224097895,
          -0.8966900362000967,
          1.336629887727447,
          -0.7546730578167158,
          0.3739628048543158,
          -0.21181759807421974,
          -0.4957355157108769
        ],
        [
          -0.6669853265218819,
          -0.8786262928730955,
          1.3062366443399815,
          -0.04561718178863278,
          -0.03655447633452458,
          -0.90219116377377,
          0.42735693160881527
        ],
        [
          -0.6639052628868116,
          -0.8319440794160793,
          1.2903846995142672,
          -0.09955616316998687,
          0.07539102347555036,
          -0.4231206303735943,
          -0.8974261507814623
        ],
        [
          -0.6664232940047029,
          -0.9584816874683636,
          1.3456731442770016,
          0.234491947677056,
          0.783341489330458,
          0.5518346672316722,
          -0.16391503167638596
        ],
        [
          -0.7134944685171807,
          -0.9444324848167706,
          1.3363498168200079,
          -0.570801061535919,
          0.1712683551757732,
          -0.2291762676418197,
          -0.7696307796694584
        ],
        [
          -0.7313569044444431,
          -0.956931150689482,
          1.3271629391264297,
          0.2234633933918141,
          -0.5543776996760748,
          -0.3377046275916217,
          0.7271073252408363
        ],
        [
          -0.7401253336795428,
          -0.9729785985963978,
          1.3411720099173092,
          -0.27677290240569724,
          0.032508412747305176,
          -0.4139030547866916,
          0.8666165385179433
        ],
        [
          -0.6508757594161395,
          -0.9429722233629001,
          1.2972779032544715,
          -0.10635603918357064,
          -0.5681143125748535,
          -0.5954505433931252,
          -0.5580082178154877
        ],
        [
          -0.6321623017417692,
          -0.940602318081189,
          1.3058037493019479,
          0.893001420520365,
          0.03774486808277786,
          0.32540227462080523,
          -0.3086051644960439
        ],
        [
          -0.6275391391292451,
          -0.9488047466962889,
          1.2761626202365368,
          0.4015567641693519,
          0.24582300456812284,
          0.8612804451080989,
          -0.19110000117565545
        ],
        [
          -0.5970433995963156,
          -0.9237976161957762,
          1.2911510884331219,
          0.16784992099332247,
          0.272686249910856,
          -0.3512965334429735,
          -0.8798064325310652
        ],
        [
          -0.5481144730630853,
          -0.9170379399236572,
          1.2906344405821557,
          0.04678532645112218,
          -0.6060513323675784,
          0.659495820484093,
          -0.4422422170353684
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6697453440865336,
            -0.8434466380971055,
            1.2504282951644201
          ],
          "distance_m": -0.00031893103919909194,
          "contact_frame": [
            -0.14437357594538835,
            0.14703386724685244,
            0.9785383551252227,
            0.02146105557605339,
            0.9891314583423352,
            -0.14545920806578927,
            -0.989290500137499,
            0.0,
            -0.14595994771750664
          ],
          "force_torque_contact_frame": [
            1.3707783649374037,
            -0.48944675718075836,
            0.2078860136166848,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7590078893019507,
            -0.9468374210015864,
            1.2555286350262174
          ],
          "distance_m": -0.00027473064560770265,
          "contact_frame": [
            -0.08645729868477262,
            0.14924494411208333,
            0.9850132395867139,
            0.013049465379293383,
            0.9888002561978738,
            -0.14867334931430548,
            -0.9961700893710101,
            0.0,
            -0.08743656582090446
          ],
          "force_torque_contact_frame": [
            2.4525192476674658,
            0.0585411324430154,
            -0.9563506784559701,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6327311351848441,
            -0.9448834559626588,
            1.2711950228068514
          ],
          "distance_m": -0.0003066013018154809,
          "contact_frame": [
            -0.1432954524036349,
            0.1479930609901708,
            0.9785522301947901,
            0.021442852760204748,
            0.9889883992741064,
            -0.14643138381762494,
            -0.9894476324626492,
            0.0,
            -0.144890933512274
          ],
          "force_torque_contact_frame": [
            3.3132197535866474,
            -0.632790951974616,
            -0.15535251045299503,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 111,
      "physics_step": 740,
      "sim_time_s": 3.6999999999999433,
      "qpos": [
        -0.6586584736444064,
        -0.9321907284445913,
        1.3111431846706105,
        0.7985269928745015,
        0.4320781962856909,
        -0.3692587627918129,
        -0.1982701188953325,
        -0.26763792044680934,
        -0.15927771300576532,
        0.45857868036993865,
        -0.3300552952559333,
        -0.1384725089478735,
        1.0503740621024051,
        0.6417028949916379,
        -2.9769040847128188,
        0.44046294148307763,
        -0.5335743812828759,
        0.39274723751025414,
        1.57290134800558,
        0.9264711614779548,
        0.4598003683395571
      ],
      "qvel": [
        -0.0015372239698293868,
        0.0026965587574214684,
        -0.0009643083842193386,
        0.015398175482456594,
        -0.013914797352847274,
        0.002114359264502256,
        0.014606743099699856,
        -0.00017741283882568288,
        -0.07737852468155816,
        -0.05692714859117907,
        0.05566985484618209,
        -0.0006125740748663472,
        0.1023109014126356,
        -0.00013049158065431746,
        0.00043383751135530756,
        -0.0002404915434500635,
        -0.0006948007185218869,
        -0.0005496768990272242,
        -0.15839066000127272,
        -0.03283113668334016
      ],
      "target_rad": [
        -0.9342684149742126,
        -0.43953394889831543,
        0.10798126459121704,
        -0.2375331073999405,
        -0.15923887491226196,
        1.5411162376403809,
        0.717775821685791,
        -4.765183925628662,
        1.1257505416870117,
        -4.0380988121032715,
        2.094372510910034,
        2.0232748985290527,
        0.8850910663604736,
        0.4517676830291748
      ],
      "policy_call": 185,
      "body_poses": [
        [
          -0.6586584736444064,
          -0.9321907284445913,
          1.3111431846706105,
          0.7985269928745015,
          0.4320781962856909,
          -0.3692587627918129,
          -0.1982701188953325
        ],
        [
          -0.6510039793268061,
          -0.9236971609003704,
          1.32652232727069,
          -0.03157692343619852,
          -0.641910911767833,
          -0.5146909555736846,
          -0.5674914091951885
        ],
        [
          -0.6311793156498079,
          -0.9246270047004304,
          1.3324060421347363,
          -0.5355951397310943,
          -0.4331736567384928,
          0.00288369823673406,
          -0.7249069689889255
        ],
        [
          -0.6440154831083273,
          -0.8966150729667466,
          1.3366267631068318,
          -0.7556654360739701,
          0.3740483404988235,
          -0.21102782199956482,
          -0.49449453590038006
        ],
        [
          -0.6669159638872955,
          -0.8784736513260647,
          1.3061889956894093,
          -0.045742463066614183,
          -0.0369440663896127,
          -0.9023249044943819,
          0.4270275515237902
        ],
        [
          -0.6638008993891413,
          -0.8317815220290646,
          1.2903731354572068,
          -0.09927924894481946,
          0.07517504247461188,
          -0.4228399409667258,
          -0.8976072237015186
        ],
        [
          -0.6665032575222536,
          -0.9583993629710778,
          1.3456246362702304,
          0.2345280449964287,
          0.7835008983457314,
          0.5516932334730589,
          -0.1635772433489009
        ],
        [
          -0.7135648170348462,
          -0.9443362457460583,
          1.3362737887066098,
          -0.5695266110012487,
          0.1709713116473874,
          -0.22919364961762,
          -0.7706351412503583
        ],
        [
          -0.7314030007544956,
          -0.9568847743738209,
          1.327107785298785,
          0.22271577361866718,
          -0.5533273777791203,
          -0.3384920149047797,
          0.7277703298618482
        ],
        [
          -0.7401040921725208,
          -0.9729628613247483,
          1.341123709390103,
          -0.27778176466265014,
          0.03367997865670884,
          -0.4141955115075983,
          0.8661091319836931
        ],
        [
          -0.6509182560408072,
          -0.9428769783577118,
          1.2972455915608931,
          -0.10653435327770189,
          -0.5680085438297524,
          -0.5952501092249942,
          -0.5582956503285138
        ],
        [
          -0.6322102010245222,
          -0.9405144656468905,
          1.305785334601457,
          0.8930673813100849,
          0.03803939655317028,
          0.32513848526262096,
          -0.30865615521312045
        ],
        [
          -0.6275686746852789,
          -0.948708472926726,
          1.2761447462479827,
          0.40178755426455304,
          0.24605727405751127,
          0.8611431282700521,
          -0.19093216532256488
        ],
        [
          -0.597076933636041,
          -0.923713576960411,
          1.2911617295611952,
          0.164671888062011,
          0.2741266294611636,
          -0.35034685889403416,
          -0.8803379116938206
        ],
        [
          -0.5481181119216337,
          -0.9171597459214158,
          1.290876992754323,
          0.048147196072974775,
          -0.6041721765831589,
          0.6611260473813694,
          -0.44223317155881114
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6696675636310007,
            -0.8432597513498965,
            1.2504113300232185
          ],
          "distance_m": -0.00031911163429151126,
          "contact_frame": [
            -0.1443573582825766,
            0.1470489774646552,
            0.9785384771874202,
            0.021460898804025883,
            0.9891292120984999,
            -0.14547450496882275,
            -0.9892928701513011,
            0.0,
            -0.1459438832832703
          ],
          "force_torque_contact_frame": [
            1.3680592165199796,
            -0.4629070768338428,
            0.22868729668651164,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7591777403887825,
            -0.9468470460636634,
            1.2555160541468215
          ],
          "distance_m": -0.0002739733338180276,
          "contact_frame": [
            -0.08643180675733474,
            0.14925185454163267,
            0.9850144296895078,
            0.013046235553614284,
            0.9887992131448544,
            -0.1486805697527296,
            -0.9961723437832143,
            0.0,
            -0.08741087736350461
          ],
          "force_torque_contact_frame": [
            2.4514463922323575,
            0.06637221119186387,
            -0.9017253680196385,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6327562705687823,
            -0.9447841241018581,
            1.2711755656569808
          ],
          "distance_m": -0.00030807802247026684,
          "contact_frame": [
            -0.143295464343761,
            0.14799251028228896,
            0.9785523117334365,
            0.021442772967613658,
            0.9889884816823433,
            -0.14643083892101685,
            -0.9894476324626613,
            3.469446951953614e-18,
            -0.1448909335121929
          ],
          "force_torque_contact_frame": [
            3.312773336847149,
            -0.6657098106166747,
            -0.23182234527554701,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 112,
      "physics_step": 747,
      "sim_time_s": 3.7349999999999426,
      "qpos": [
        -0.6587167329067997,
        -0.9320980618324904,
        1.3111106555170193,
        0.7983466729657813,
        0.4322558578180266,
        -0.369466092532971,
        -0.1982227777398137,
        -0.2671148500996427,
        -0.1592803046933242,
        0.4560614984510782,
        -0.3312709464717476,
        -0.135996862072886,
        1.0503465246635866,
        0.6449669958045917,
        -2.9769090318136353,
        0.44047179345035103,
        -0.533585057567634,
        0.3927236196963747,
        1.5728843376365245,
        0.9223536581112685,
        0.4590613485965484
      ],
      "qvel": [
        -0.0017548401154533527,
        0.002664689991554488,
        -0.0009257090097163048,
        0.01537227391681245,
        -0.007510737306528472,
        0.002104623861196932,
        0.014916623813233885,
        1.2713299387696355e-05,
        -0.06845491067580192,
        -0.02046093064663792,
        0.07789961248584489,
        -0.0008661972141794405,
        0.08699933925041362,
        -0.0001833653861943096,
        0.00011165715739450705,
        -0.000331940726460685,
        -0.0006306601643077689,
        -0.00042322565665682207,
        -0.0882529839100161,
        -0.014327368629224941
      ],
      "target_rad": [
        -0.932272732257843,
        -0.43842604756355286,
        0.11001920700073242,
        -0.23558369278907776,
        -0.15860962867736816,
        1.53977370262146,
        0.7168036699295044,
        -4.760175704956055,
        1.1269781589508057,
        -4.035521507263184,
        2.09193754196167,
        2.0221519470214844,
        0.8862456679344177,
        0.4514789581298828
      ],
      "policy_call": 186,
      "body_poses": [
        [
          -0.6587167329067997,
          -0.9320980618324904,
          1.3111106555170193,
          0.7983466729657813,
          0.4322558578180266,
          -0.369466092532971,
          -0.1982227777398137
        ],
        [
          -0.6510707212064502,
          -0.9236097889270027,
          1.326496939284066,
          -0.03148554549501744,
          -0.6418984736656596,
          -0.5144084265990558,
          -0.5677666603231128
        ],
        [
          -0.6312479857935936,
          -0.9245484099818612,
          1.3323857550620692,
          -0.535522493333697,
          -0.4332606801330024,
          0.003271856153992725,
          -0.7249069851654456
        ],
        [
          -0.6440789249146507,
          -0.896536561156905,
          1.3366228916753415,
          -0.7565090931209575,
          0.37408907681815085,
          -0.21031290168219025,
          -0.4934772923009393
        ],
        [
          -0.6668781769489598,
          -0.878327754066838,
          1.3061493894899547,
          -0.046088514522184584,
          -0.03771368775455988,
          -0.9024430861540862,
          0.4266731803591331
        ],
        [
          -0.6636934887962643,
          -0.8316265350392832,
          1.2903742856009015,
          -0.09894396665511707,
          0.07497275743908648,
          -0.4225556053948626,
          -0.8977950420078689
        ],
        [
          -0.6665825118375337,
          -0.9583174659872847,
          1.3455791343031565,
          0.23455469365166476,
          0.783590243140587,
          0.5516456760969193,
          -0.16327116887075202
        ],
        [
          -0.7136385306832204,
          -0.9442503516143301,
          1.3362064407942131,
          -0.5683679488826674,
          0.17071930552225661,
          -0.22919052689944744,
          -0.7715468202153781
        ],
        [
          -0.7314538908241635,
          -0.9568443161775491,
          1.327058381588082,
          0.22202580292735064,
          -0.5523856307554627,
          -0.33922009698202116,
          0.7283573186100777
        ],
        [
          -0.7400941602824826,
          -0.972950354353092,
          1.341079839357358,
          -0.27870929206341594,
          0.03472712759100427,
          -0.41445810904724667,
          0.8656440567414342
        ],
        [
          -0.6509689840710973,
          -0.9427801711907007,
          1.2972140758069572,
          -0.10662934031322427,
          -0.5678748708728385,
          -0.5951199970439378,
          -0.5585521496995123
        ],
        [
          -0.6322658032473064,
          -0.940421093726082,
          1.3057654371365064,
          0.8931460511362592,
          0.0382721336591134,
          0.32492701833718224,
          -0.30862243580043397
        ],
        [
          -0.6276077108397713,
          -0.9486064489062764,
          1.2761250569821136,
          0.40199089118507586,
          0.24619057851728982,
          0.8610511724037139,
          -0.1907469552987398
        ],
        [
          -0.5971232698379123,
          -0.923617399851403,
          1.2911665718176382,
          0.16269884456895947,
          0.2751118382825005,
          -0.34970638253874375,
          -0.8806520359508707
        ],
        [
          -0.5481474141017355,
          -0.9171871688521319,
          1.2910335898444159,
          0.04915862881440526,
          -0.6029061971503065,
          0.6622107216636134,
          -0.4422267594397679
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6700463793727305,
            -0.8430561659845334,
            1.2503214246400896
          ],
          "distance_m": -0.0003262449706024812,
          "contact_frame": [
            -0.1432951608771349,
            0.14803640854482927,
            0.9785457161596206,
            0.021449230492824333,
            0.9889819117381006,
            -0.1464742597390999,
            -0.9894475364467091,
            -3.469446951953614e-18,
            -0.1448915891952955
          ],
          "force_torque_contact_frame": [
            1.364993919470121,
            -0.4446544829198683,
            0.23647260577634888,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7593378293665645,
            -0.9468574231718938,
            1.2555043494134452
          ],
          "distance_m": -0.00027334689589258906,
          "contact_frame": [
            -0.0864101622858173,
            0.14925772574262566,
            0.9850154390464536,
            0.013043493251142827,
            0.9887983269130967,
            -0.1486867041052032,
            -0.996174257415612,
            0.0,
            -0.08738906603491017
          ],
          "force_torque_contact_frame": [
            2.444604247647674,
            0.0677985515113968,
            -0.8523926300243523,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6327922300103981,
            -0.944680289246496,
            1.2711543351186216
          ],
          "distance_m": -0.00030859061480071877,
          "contact_frame": [
            -0.14329547533765571,
            0.1479920032111722,
            0.9785523868108952,
            0.021442699497582502,
            0.9889885575604725,
            -0.14643033720070434,
            -0.9894476324626845,
            0.0,
            -0.1448909335120328
          ],
          "force_torque_contact_frame": [
            3.3186042390006487,
            -0.6868004958831055,
            -0.28981329460246097,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 113,
      "physics_step": 753,
      "sim_time_s": 3.764999999999942,
      "qpos": [
        -0.6587722505159652,
        -0.9320159846225291,
        1.3110826597248717,
        0.7982401236417122,
        0.43238710961172344,
        -0.3695903885544557,
        -0.19813388690037223,
        -0.26666988023783794,
        -0.15927308171052476,
        0.4541032188086839,
        -0.33152483759891005,
        -0.13363662983232727,
        1.0503188989663843,
        0.6473719944234387,
        -2.9769149866557925,
        0.4404711003229612,
        -0.5335951718795513,
        0.39270573564036,
        1.5728736886779546,
        0.9205706596778901,
        0.45873860274797196
      ],
      "qvel": [
        -0.0019041903056641496,
        0.0027699588137568977,
        -0.0009335208814134383,
        0.012938274985169987,
        -0.003461721327658536,
        0.004531736381828393,
        0.014829790717629635,
        0.00044552604410732187,
        -0.06361506789307353,
        -0.0030074916986201706,
        0.07717111367285429,
        -0.0009865165810865638,
        0.07565690857294322,
        -0.00017694906177228513,
        -0.0001064961356517098,
        -0.0003221447779076505,
        -0.00058562454885195,
        -0.00031475657212250385,
        -0.04109841409552995,
        -0.009591055298202424
      ],
      "target_rad": [
        -0.9288405776023865,
        -0.4358851909637451,
        0.11363106966018677,
        -0.23299884796142578,
        -0.1576557159423828,
        1.5375159978866577,
        0.7145493030548096,
        -4.75098180770874,
        1.128638744354248,
        -4.030062675476074,
        2.0874550342559814,
        2.0205774307250977,
        0.8870202302932739,
        0.45028209686279297
      ],
      "policy_call": 188,
      "body_poses": [
        [
          -0.6587722505159652,
          -0.9320159846225291,
          1.3110826597248717,
          0.7982401236417122,
          0.43238710961172344,
          -0.3695903885544557,
          -0.19813388690037223
        ],
        [
          -0.6511332450155343,
          -0.9235299032246804,
          1.326473631671876,
          -0.031378372615768986,
          -0.6418775954145133,
          -0.5142348535782728,
          -0.5679534009073279
        ],
        [
          -0.6313115401432111,
          -0.9244729653670861,
          1.3323652061431086,
          -0.5354303571825978,
          -0.43334176281443426,
          0.0035225393377401673,
          -0.7249254036966891
        ],
        [
          -0.6441414145841112,
          -0.8964625523611924,
          1.3366150396774956,
          -0.7571242720831659,
          0.37412881723702884,
          -0.20976439466729543,
          -0.49273660658126517
        ],
        [
          -0.6668656696881471,
          -0.8782049336130567,
          1.3061147368589263,
          -0.04650396278333094,
          -0.03855936938542634,
          -0.90251853270461,
          0.4263928407029855
        ],
        [
          -0.6636043124558832,
          -0.831497667266806,
          1.2903732369474203,
          -0.0987332275430626,
          0.07486984396185456,
          -0.42233633471729914,
          -0.8979299953902942
        ],
        [
          -0.6666496850050945,
          -0.9582425263284341,
          1.3455430456523088,
          0.2345985677963504,
          0.783613042102606,
          0.5516590616762831,
          -0.16305334067428087
        ],
        [
          -0.7137036165771162,
          -0.9441789471625998,
          1.3361545812058833,
          -0.5674571111950941,
          0.17055445959937532,
          -0.22920308948159263,
          -0.772249666258896
        ],
        [
          -0.7315006468542602,
          -0.9568091050610418,
          1.3270207532906637,
          0.22146065711453844,
          -0.551666719038843,
          -0.33977075020217984,
          0.7288174296505007
        ],
        [
          -0.7400936813918089,
          -0.9729360345592746,
          1.3410472247783731,
          -0.2794389458738539,
          0.03554306789177089,
          -0.4146302253084073,
          0.8652932116424171
        ],
        [
          -0.6510179059126084,
          -0.9426948077459163,
          1.2971872332660759,
          -0.10667506084423728,
          -0.5677418455486432,
          -0.5950743894193448,
          -0.5587272136419457
        ],
        [
          -0.6323184652143276,
          -0.9403355265369959,
          1.3057467139599446,
          0.8932210279956445,
          0.03839760983022905,
          0.32477295474169565,
          -0.30855201599418725
        ],
        [
          -0.6276476719349662,
          -0.94851550333215,
          1.276106847736019,
          0.4021516876451997,
          0.246224866486713,
          0.8609965200543122,
          -0.19061040816828873
        ],
        [
          -0.5971713965266511,
          -0.9235263068184625,
          1.2911646556524068,
          0.16185868316344654,
          0.2756282083260336,
          -0.349410071911135,
          -0.8807629982615245
        ],
        [
          -0.5481890590727446,
          -0.9171445297534905,
          1.291105165782418,
          0.04968224561365158,
          -0.6023580223488546,
          0.662651118865736,
          -0.44225556191951804
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6699666979444237,
            -0.8429101247525792,
            1.2503139841439521
          ],
          "distance_m": -0.00032041874681647226,
          "contact_frame": [
            -0.14329509537152996,
            0.14803638318527942,
            0.9785457295884977,
            0.021449216930863463,
            0.9889819155340612,
            -0.1464742360950609,
            -0.9894475462274476,
            -3.469446951953614e-18,
            -0.14489152240377318
          ],
          "force_torque_contact_frame": [
            1.3656894208654322,
            -0.43522434386504166,
            0.232316132563459,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7594676705476969,
            -0.9468669275760788,
            1.2554948905913486
          ],
          "distance_m": -0.000273095310230242,
          "contact_frame": [
            -0.08639361253990258,
            0.14926220873276486,
            0.9850162114181279,
            0.013041395704651335,
            0.9887976502016056,
            -0.14869138829756812,
            -0.9961757202975691,
            0.0,
            -0.08737238859971788
          ],
          "force_torque_contact_frame": [
            2.442714490833855,
            0.06197737110495427,
            -0.8083617142655509,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6328304843188125,
            -0.9445889302771913,
            1.2711348004143281
          ],
          "distance_m": -0.0003088190990927361,
          "contact_frame": [
            -0.14329548295379937,
            0.14799165196452407,
            0.9785524388165657,
            0.021442648605220323,
            0.9889886101208705,
            -0.1464299896605264,
            -0.9894476324625929,
            0.0,
            -0.1448909335126583
          ],
          "force_torque_contact_frame": [
            3.3182017358632785,
            -0.6926498631927964,
            -0.33139595878716566,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 114,
      "physics_step": 760,
      "sim_time_s": 3.799999999999941,
      "qpos": [
        -0.6588409065289095,
        -0.9319214527156902,
        1.3110512399918233,
        0.7981418884773968,
        0.43254231836250473,
        -0.36968842717702727,
        -0.1980079177575982,
        -0.2661566959651378,
        -0.15924398648177612,
        0.45191664659926506,
        -0.3315778228550041,
        -0.1312282913048041,
        1.0502838478536485,
        0.6498285382160258,
        -2.9769183618705854,
        0.4404640920904494,
        -0.5336045718085588,
        0.39268775236535786,
        1.5728649999449353,
        0.9198502888938743,
        0.4583725399035155
      ],
      "qvel": [
        -0.002018379173383753,
        0.0024713207400754284,
        -0.0008129407685041809,
        0.016508837290347633,
        0.00017641584303839427,
        0.00018077884708266566,
        0.01436946012891555,
        0.0012351491506149973,
        -0.061594366039279466,
        -0.0009621516024844647,
        0.060372226514117756,
        -0.0009416444246583182,
        0.0661984172407575,
        -4.162935237009426e-05,
        -0.00025993716734668524,
        -0.00023877616759212478,
        -0.0004444896041992034,
        -0.00020720192089866406,
        -0.008547785055278896,
        -0.0117005837306451
      ],
      "target_rad": [
        -0.9261081218719482,
        -0.4342184364795685,
        0.11673104763031006,
        -0.23151855170726776,
        -0.15779834985733032,
        1.5364052057266235,
        0.7128531336784363,
        -4.743991851806641,
        1.1295393705368042,
        -4.025383472442627,
        2.0842268466949463,
        2.0193803310394287,
        0.8872905373573303,
        0.4491923451423645
      ],
      "policy_call": 190,
      "body_poses": [
        [
          -0.6588409065289095,
          -0.9319214527156902,
          1.3110512399918233,
          0.7981418884773968,
          0.43254231836250473,
          -0.36968842717702727,
          -0.1980079177575982
        ],
        [
          -0.6512096819792107,
          -0.9234369950210163,
          1.326446966330628,
          -0.031216331711141035,
          -0.6418497861855805,
          -0.5140685378531635,
          -0.5681442871291892
        ],
        [
          -0.6313886761796967,
          -0.9243833219503127,
          1.3323403689503819,
          -0.535287374069404,
          -0.4334564166169431,
          0.003773073703833653,
          -0.7249611892855409
        ],
        [
          -0.6442199421038928,
          -0.8963758806110447,
          1.3366055587949284,
          -0.7577834334789252,
          0.37416298438475204,
          -0.2091489973849555,
          -0.4919583579471481
        ],
        [
          -0.6668637840229801,
          -0.8780655504545661,
          1.3060770619908908,
          -0.047013506217770035,
          -0.03955182201600119,
          -0.9026042385145205,
          0.42606451650418864
        ],
        [
          -0.6635127420148348,
          -0.8313513476058649,
          1.2903750312410154,
          -0.0986478330348517,
          0.07484814509314754,
          -0.4220651574898732,
          -0.8980686850384502
        ],
        [
          -0.6667270690442199,
          -0.958156426673087,
          1.3455032101022077,
          0.23464291861352501,
          0.7836064822480873,
          0.5517175540867114,
          -0.16282297821831207
        ],
        [
          -0.7137805401021097,
          -0.9441013825473766,
          1.336099668427463,
          -0.5664832618052082,
          0.17038837564174758,
          -0.22920825233294057,
          -0.7729994130678091
        ],
        [
          -0.7315575687852567,
          -0.9567702911172267,
          1.3269805678984992,
          0.220848743614402,
          -0.5509061233527539,
          -0.34036269116342194,
          0.7293020733278995
        ],
        [
          -0.7401003203852451,
          -0.972919465037287,
          1.3410121599963525,
          -0.2802239801288826,
          0.03640685587328711,
          -0.4148086734771597,
          0.8649178147166745
        ],
        [
          -0.6510789586626817,
          -0.9425959955341785,
          1.2971567698350228,
          -0.10668590401003336,
          -0.5675809511453263,
          -0.5950541769737707,
          -0.5589101074847336
        ],
        [
          -0.632383444755084,
          -0.9402347181192864,
          1.305724274063253,
          0.8933103775566354,
          0.03851185753443006,
          0.32462617877457733,
          -0.308433542652359
        ],
        [
          -0.627699317733907,
          -0.9484084046427259,
          1.2760847767215973,
          0.4023176552237747,
          0.2462180960236348,
          0.8609569862483539,
          -0.19044742402009746
        ],
        [
          -0.5972336595230344,
          -0.9234162117318232,
          1.2911590875745853,
          0.16152995331403597,
          0.2759751095980033,
          -0.3492383940849244,
          -0.8807828093018832
        ],
        [
          -0.5482497083468979,
          -0.9170465794982715,
          1.2911414132099768,
          0.04998654915397347,
          -0.6022105804156894,
          0.6627312425219976,
          -0.44230200307518874
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6698792834059136,
            -0.8427462826652014,
            1.2503058842460548
          ],
          "distance_m": -0.00031283073535443636,
          "contact_frame": [
            -0.14329469063911401,
            0.14803641284090785,
            0.9785457843697642,
            0.02144916074134701,
            0.9889819110950393,
            -0.14647427429516616,
            -0.9894476060601353,
            0.0,
            -0.14489111381264047
          ],
          "force_torque_contact_frame": [
            1.346702904317545,
            -0.4265697255815183,
            0.22654813858511352,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7596115632215097,
            -0.9468764752894686,
            1.255484221199333
          ],
          "distance_m": -0.00027289124302475666,
          "contact_frame": [
            -0.08637665516293065,
            0.1492668029728762,
            0.9850170023776852,
            0.013039246410115723,
            0.9887969566752604,
            -0.14869618866265444,
            -0.9961772189203689,
            1.734723475976807e-18,
            -0.08735530037770778
          ],
          "force_torque_contact_frame": [
            2.4470521196452673,
            0.06309024181612621,
            -0.7699720689006438,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6328808410502239,
            -0.9444819108996045,
            1.271111315342459
          ],
          "distance_m": -0.0003086753886946932,
          "contact_frame": [
            -0.14329549109707013,
            0.14799127634447304,
            0.9785524944310261,
            0.021442594181178155,
            0.9889886663283528,
            -0.14642961800417117,
            -0.9894476324626944,
            0.0,
            -0.14489093351196689
          ],
          "force_torque_contact_frame": [
            3.322873022857805,
            -0.6859005379252501,
            -0.36409702358113205,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 115,
      "physics_step": 767,
      "sim_time_s": 3.8349999999999405,
      "qpos": [
        -0.6589127932946228,
        -0.9318290262264389,
        1.3110206842638819,
        0.7980667285382571,
        0.4327004583334643,
        -0.36974345071584086,
        -0.1978625553534465,
        -0.2656665467570243,
        -0.15919670688171647,
        0.44979592966207954,
        -0.3315981215010542,
        -0.12956559893550357,
        1.050251425593875,
        0.6519876009535295,
        -2.9769215347341778,
        0.44045438859554015,
        -0.5336115804545711,
        0.3926735968846509,
        1.5728593882141442,
        0.9197330876293875,
        0.45786767167855114
      ],
      "qvel": [
        -0.00210361676245108,
        0.0024660898511211357,
        -0.0008015346636414799,
        0.01526346545280485,
        0.0029083349440349043,
        0.0009336225650335064,
        0.013797615451917562,
        0.0017602840322036323,
        -0.05975462146535222,
        -0.00036491922215630714,
        0.038704512949597536,
        -0.0008459069538095567,
        0.05813472862963663,
        -2.103385733027759e-05,
        -0.00030050655910830753,
        -0.0001878322149792197,
        -0.00035772789965168964,
        -0.00013362676545829692,
        -0.0024243066221249793,
        -0.016864835374111167
      ],
      "target_rad": [
        -0.9254294633865356,
        -0.4331025183200836,
        0.11757159233093262,
        -0.23134510219097137,
        -0.15717476606369019,
        1.5359512567520142,
        0.7120559215545654,
        -4.741563320159912,
        1.1301658153533936,
        -4.0236029624938965,
        2.0831377506256104,
        2.0192925930023193,
        0.8860155940055847,
        0.4484100937843323
      ],
      "policy_call": 191,
      "body_poses": [
        [
          -0.6589127932946228,
          -0.9318290262264389,
          1.3110206842638819,
          0.7980667285382571,
          0.4327004583334643,
          -0.36974345071584086,
          -0.1978625553534465
        ],
        [
          -0.6512889817134037,
          -0.9233453945790401,
          1.3264205378685536,
          -0.031024784086796466,
          -0.6418146183245481,
          -0.5139397724594454,
          -0.5683109789205336
        ],
        [
          -0.631468265595817,
          -0.9242930695090273,
          1.3323146980982312,
          -0.535112563933715,
          -0.43358316648955186,
          0.003982786336310287,
          -0.7250133233742521
        ],
        [
          -0.6443035010177208,
          -0.8962898012436419,
          1.3365953169928724,
          -0.7583928064742852,
          0.37419531460204336,
          -0.20854988618105869,
          -0.4912485751549839
        ],
        [
          -0.6668723845129527,
          -0.8779306730954662,
          1.3060406316594,
          -0.04751569960871918,
          -0.040474371683059895,
          -0.9026885602136573,
          0.4257434048660633
        ],
        [
          -0.66343843312409,
          -0.8312095881048945,
          1.2903770370795247,
          -0.09882726629271416,
          0.07497758900091016,
          -0.4217742875565856,
          -0.8981748064496426
        ],
        [
          -0.6668032584863488,
          -0.9580726253941693,
          1.345465099254293,
          0.23468017951801798,
          0.7835716814116425,
          0.5518130510351859,
          -0.16261300728527486
        ],
        [
          -0.713857971482969,
          -0.9440298683893062,
          1.3360494229372104,
          -0.5655849038518597,
          0.17024338066504982,
          -0.22920507877598384,
          -0.7736898213999663
        ],
        [
          -0.7316161923907634,
          -0.9567345539465336,
          1.3269434610060382,
          0.2202790315255828,
          -0.5502106554942502,
          -0.3409130155967774,
          0.7297422138313291
        ],
        [
          -0.7401127376757054,
          -0.9729042252222484,
          1.3409795020809372,
          -0.2809532010137203,
          0.03719546547981725,
          -0.41497053442853304,
          0.8645699808251385
        ],
        [
          -0.651143337029646,
          -0.9424988451573311,
          1.2971267822443415,
          -0.10665726817614221,
          -0.5674153624216867,
          -0.5950629382667164,
          -0.5590743538514801
        ],
        [
          -0.6324513471039444,
          -0.9401340115557845,
          1.3057009921003262,
          0.8934013875835584,
          0.03859850078495547,
          0.32451002380150457,
          -0.30828130149795424
        ],
        [
          -0.6277552377751644,
          -0.9483012785756563,
          1.27606162121297,
          0.4024634343079224,
          0.2461692772544843,
          0.8609399447945821,
          -0.1902794850691441
        ],
        [
          -0.5973011956932092,
          -0.923303561653345,
          1.291150237914063,
          0.1615145221960578,
          0.27620074515910126,
          -0.3491364300193597,
          -0.8807553353381814
        ],
        [
          -0.5483184883166171,
          -0.9169243478228182,
          1.2911532318352898,
          0.05012034502289727,
          -0.6023502428088079,
          0.6625640245252251,
          -0.4423472045892138
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6697894907997383,
            -0.8425793288585868,
            1.2502960324750416
          ],
          "distance_m": -0.00030843187893249424,
          "contact_frame": [
            -0.14329481920657358,
            0.1480355683630411,
            0.9785458932967768,
            0.021449054887111674,
            0.9889820375009,
            -0.14647343631190704,
            -0.9894475897353054,
            0.0,
            -0.14489122529330387
          ],
          "force_torque_contact_frame": [
            1.348196319058331,
            -0.42378702553158687,
            0.2231195007212161,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7597487554369411,
            -0.9468854677906272,
            1.2554739359247349
          ],
          "distance_m": -0.000272885819553241,
          "contact_frame": [
            -0.08636173082106684,
            0.14927084788323888,
            0.9850176980246643,
            0.013037354795811858,
            0.9887963460552526,
            -0.1487004149547309,
            -0.9961785376274264,
            1.734723475976807e-18,
            -0.08734026087940362
          ],
          "force_torque_contact_frame": [
            2.4450391207318467,
            0.05911943325568614,
            -0.7389508185344367,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6329361463553073,
            -0.9443753209639006,
            1.2710871158547146
          ],
          "distance_m": -0.0003086387511904937,
          "contact_frame": [
            -0.14329549862173868,
            0.14799092931585336,
            0.9785525458119136,
            0.021442543899972362,
            0.9889887182573065,
            -0.14642927463751113,
            -0.9894476324626003,
            6.938893903907228e-18,
            -0.14489093351260787
          ],
          "force_torque_contact_frame": [
            3.322757920338785,
            -0.6872528946405301,
            -0.3923589918910626,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 116,
      "physics_step": 773,
      "sim_time_s": 3.86499999999994,
      "qpos": [
        -0.6589764922785045,
        -0.931746282211343,
        1.3109935562544646,
        0.7980402951044648,
        0.43279050518409146,
        -0.3697773946293137,
        -0.19770873636041966,
        -0.26526862487097513,
        -0.15914099791507136,
        0.4480129857685551,
        -0.3316030178340789,
        -0.12867420941829363,
        1.0502265605380368,
        0.653647556756398,
        -2.976924604347355,
        0.44044649132482944,
        -0.5336163660457235,
        0.39266482311415407,
        1.5728563380509561,
        0.9196533011831814,
        0.4572973655084104
      ],
      "qvel": [
        -0.0021510102221655473,
        0.0028485322979936766,
        -0.0009192476686625023,
        0.008214572809836616,
        0.0036667966557615028,
        0.008164475569270848,
        0.013127077381932476,
        0.002140366747406334,
        -0.05901091939090281,
        1.001656792193903e-05,
        0.02335964092714358,
        -0.0007807793524933322,
        0.05316460889851948,
        -6.363230646524899e-05,
        -0.00024338533233216332,
        -0.00014968244286929825,
        -0.0002663662211085614,
        -9.303572231266952e-05,
        -0.003592652038038264,
        -0.020584139199025905
      ],
      "target_rad": [
        -0.9245449900627136,
        -0.4318311810493469,
        0.11887705326080322,
        -0.23097576200962067,
        -0.15642505884170532,
        1.5352208614349365,
        0.7110031247138977,
        -4.737995624542236,
        1.1314013004302979,
        -4.020853519439697,
        2.0815694332122803,
        2.0188004970550537,
        0.8840684294700623,
        0.44736170768737793
      ],
      "policy_call": 193,
      "body_poses": [
        [
          -0.6589764922785045,
          -0.931746282211343,
          1.3109935562544646,
          0.7980402951044648,
          0.43279050518409146,
          -0.3697773946293137,
          -0.19770873636041966
        ],
        [
          -0.6513587250695444,
          -0.9232611828090765,
          1.32639559218754,
          -0.030883984057802752,
          -0.6417786092521257,
          -0.5138844945608521,
          -0.5684092913430089
        ],
        [
          -0.631538035963472,
          -0.9242082556735544,
          1.3322899400182837,
          -0.534970160296583,
          -0.4336655519454537,
          0.004097234868645175,
          -0.7250684997395236
        ],
        [
          -0.6443781691073807,
          -0.8962087470641994,
          1.3365804526311722,
          -0.7588654897141085,
          0.3742681064274405,
          -0.20807271560433666,
          -0.49066515879285766
        ],
        [
          -0.6668856950052159,
          -0.8778136102760938,
          1.306002174312811,
          -0.04794539867832717,
          -0.04122161883912687,
          -0.9027346828789374,
          0.4255256857268681
        ],
        [
          -0.6633846416434315,
          -0.8310885166268627,
          1.2903654147754735,
          -0.09917561120191942,
          0.07520441127086855,
          -0.4215627675603565,
          -0.8982167487165778
        ],
        [
          -0.6668681632391197,
          -0.9579933877039041,
          1.3454350231942125,
          0.23475174798568244,
          0.7835140267088209,
          0.5519042071345908,
          -0.16247809980220032
        ],
        [
          -0.7139248338018718,
          -0.9439640514074236,
          1.3360091291448997,
          -0.5648586963704231,
          0.17016417725333513,
          -0.22924150775407726,
          -0.7742267994825793
        ],
        [
          -0.7316678387409429,
          -0.9566983087249541,
          1.3269148202699486,
          0.21979085492092704,
          -0.5496716585206037,
          -0.34131343995581626,
          0.7301083369047794
        ],
        [
          -0.7401276251887731,
          -0.9728827315424702,
          1.3409560620711916,
          -0.2815362446980607,
          0.03783521805456609,
          -0.41504964593706656,
          0.8643145437880767
        ],
        [
          -0.651200762571321,
          -0.9424134372023251,
          1.2971011183143768,
          -0.10664345459580664,
          -0.5672672419591224,
          -0.5951175793435659,
          -0.5591691305394249
        ],
        [
          -0.6325115231027578,
          -0.9400437901075954,
          1.3056799935747556,
          0.8934813229027474,
          0.03860638613986789,
          0.3244115120913466,
          -0.30815230551754924
        ],
        [
          -0.6278060389948041,
          -0.9482088858889814,
          1.2760415113229502,
          0.40258922545937526,
          0.246082312621774,
          0.8609272729445137,
          -0.1901831792221958
        ],
        [
          -0.5973623587849675,
          -0.9232034202369983,
          1.2911381966286288,
          0.1615516937908102,
          0.2763701381097933,
          -0.34909493390224866,
          -0.8807118280790136
        ],
        [
          -0.5483810636112351,
          -0.9168133950344799,
          1.2911555464090267,
          0.050159944847825766,
          -0.6025477178175607,
          0.6623356563237457,
          -0.44241576152743994
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6692720166442406,
            -0.8424582704413184,
            1.2503565841575355
          ],
          "distance_m": -0.000302399773035888,
          "contact_frame": [
            -0.14435741758520965,
            0.1470469613523132,
            0.9785387714062129,
            0.02146060687793326,
            0.9891295118219107,
            -0.14547251010201032,
            -0.9892928678306339,
            3.469446951953614e-18,
            -0.14594389901410676
          ],
          "force_torque_contact_frame": [
            1.230310630932265,
            -0.3898232550630293,
            0.18557995529622479,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6489647586119573,
            -0.8428575794954845,
            1.2539640270553947
          ],
          "distance_m": -9.577633618121384e-08,
          "contact_frame": [
            -0.23830451078247325,
            0.05710696586138237,
            0.9695100590457187,
            0.013631092610534268,
            0.9983680656201434,
            -0.055456278852228535,
            -0.9710948220719586,
            1.734723475976807e-18,
            -0.23869404379881554
          ],
          "force_torque_contact_frame": [
            0.19953416602496316,
            -0.13526541014607676,
            0.06426875587888639,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7598619980505898,
            -0.9468929603583268,
            1.2554653827326863
          ],
          "distance_m": -0.00027302713337031855,
          "contact_frame": [
            -0.08634925419864914,
            0.1492742167405643,
            0.985018281310468,
            0.01303577219691159,
            0.9887958374793511,
            -0.14870393547831612,
            -0.9961796398956203,
            0.0,
            -0.08732768780537305
          ],
          "force_torque_contact_frame": [
            2.4520738921463656,
            0.07328839782479601,
            -0.7069588146486885,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6329868015153265,
            -0.9442842073636866,
            1.271065897413249
          ],
          "distance_m": -0.0003086811357423079,
          "contact_frame": [
            -0.14329550301927868,
            0.147990726461872,
            0.9785525758464587,
            0.02144251450818114,
            0.9889887486120799,
            -0.1464290739241325,
            -0.9894476324626881,
            3.469446951953614e-18,
            -0.1448909335120099
          ],
          "force_torque_contact_frame": [
            3.2757553000958968,
            -0.6511330809879299,
            -0.45505775685739536,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 117,
      "physics_step": 780,
      "sim_time_s": 3.899999999999939,
      "qpos": [
        -0.6590578660534316,
        -0.9316642973351149,
        1.3109665594675717,
        0.7980006073025075,
        0.4329723954863908,
        -0.3697472546476552,
        -0.19752696821479043,
        -0.2648765734674071,
        -0.15905952623421682,
        0.44605775064862335,
        -0.33158341462357355,
        -0.12844247904457942,
        1.0502079597155818,
        0.65523625391749,
        -2.976934934952031,
        0.44043763867497415,
        -0.5336203988575366,
        0.39266240938731095,
        1.5728528898675462,
        0.919460129855277,
        0.4565178507853322
      ],
      "qvel": [
        -0.002326870405481095,
        0.0023302026520903908,
        -0.0007789699753552615,
        0.012174245701013662,
        0.007743488270616274,
        0.003278427332115348,
        0.011452830350051275,
        0.002513862487710344,
        -0.05530305394916787,
        0.0006968034114723205,
        0.002858389663867639,
        -0.0005571389579221561,
        0.043105552289408704,
        -0.0002291557565567879,
        -0.0002556629720057971,
        -9.77382137788951e-05,
        -6.3584444553965e-05,
        -0.00010096090413988511,
        -0.005869105028498784,
        -0.022629116008777754
      ],
      "target_rad": [
        -0.9232292771339417,
        -0.4310269057750702,
        0.1205642819404602,
        -0.23062771558761597,
        -0.15661877393722534,
        1.534731388092041,
        0.7101916074752808,
        -4.734600067138672,
        1.1320452690124512,
        -4.0179266929626465,
        2.0800299644470215,
        2.0180647373199463,
        0.8837427496910095,
        0.4466537833213806
      ],
      "policy_call": 195,
      "body_poses": [
        [
          -0.6590578660534316,
          -0.9316642973351149,
          1.3109665594675717,
          0.7980006073025075,
          0.4329723954863908,
          -0.3697472546476552,
          -0.19752696821479043
        ],
        [
          -0.651447032684882,
          -0.9231789994186915,
          1.3263719135597603,
          -0.030638115132516554,
          -0.6417108431146943,
          -0.5138375874304308,
          -0.5685414967034756
        ],
        [
          -0.6316260445424495,
          -0.9241231338187933,
          1.3322657272056178,
          -0.534724342864712,
          -0.4338009862648527,
          0.004231146689506866,
          -0.7251680349141387
        ],
        [
          -0.644476069745581,
          -0.8961304646854847,
          1.3365712268365548,
          -0.7593664560963549,
          0.3743067009749509,
          -0.2074931028218499,
          -0.4901057959688617
        ],
        [
          -0.6669199408307415,
          -0.8776953522030624,
          1.305970243798699,
          -0.04844384879272827,
          -0.04197676691011487,
          -0.9028172887834959,
          0.4252200461261643
        ],
        [
          -0.6633523247598495,
          -0.8309632443593257,
          1.2903695318901975,
          -0.09983043124470761,
          0.07563337382500324,
          -0.4212344796870709,
          -0.8982622060868998
        ],
        [
          -0.6669453657830112,
          -0.9579217968418917,
          1.3454010585915244,
          0.23476446513348953,
          0.7834296471545941,
          0.5520736153076709,
          -0.16229096447717412
        ],
        [
          -0.7140064646945444,
          -0.9439117599227214,
          1.335968570332196,
          -0.5641091070888711,
          0.17005428470585338,
          -0.229203515447572,
          -0.7748084950870444
        ],
        [
          -0.7317328509006973,
          -0.9566758235907652,
          1.3268836433452338,
          0.219312208249333,
          -0.549100243170027,
          -0.34180295899842467,
          0.7304531576243191
        ],
        [
          -0.7401544037766649,
          -0.9728781303497988,
          1.3409272434122912,
          -0.28216548186448565,
          0.038467606126967216,
          -0.41519850496736244,
          0.8640098874410576
        ],
        [
          -0.651274572706612,
          -0.942325259528917,
          1.2970736033465844,
          -0.10652825023131776,
          -0.5670885012750517,
          -0.5951743476905849,
          -0.5593119518438304
        ],
        [
          -0.6325881940738802,
          -0.9399491645366137,
          1.3056569259073258,
          0.8935788250185384,
          0.03865691026985503,
          0.32435562493512676,
          -0.30792199554403227
        ],
        [
          -0.6278728786070595,
          -0.9481063525440733,
          1.2760178286899793,
          0.4026971559067912,
          0.24595373084036076,
          0.8609572541393977,
          -0.18998518219860283
        ],
        [
          -0.5974432939149031,
          -0.9230905524689025,
          1.291125806929041,
          0.16159516317428296,
          0.2765884311740157,
          -0.348938688842541,
          -0.8806972433295229
        ],
        [
          -0.5484640544965134,
          -0.9166848590622928,
          1.2911604187271035,
          0.05025540329108589,
          -0.6028350059690848,
          0.662065394615817,
          -0.44241808650924885
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6691991099244812,
            -0.8423026725730339,
            1.2503439409154586
          ],
          "distance_m": -0.00030198583244591906,
          "contact_frame": [
            -0.14439147276481362,
            0.14701384023819222,
            0.9785387234909141,
            0.021460727839096284,
            0.989134435139339,
            -0.14543901258670916,
            -0.989287895282978,
            0.0,
            -0.1459776018660934
          ],
          "force_torque_contact_frame": [
            1.2131664702862892,
            -0.38229179221208515,
            0.17419358708777719,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6511851476941164,
            -0.8425142056584166,
            1.2533980094728232
          ],
          "distance_m": -1.581546968611178e-07,
          "contact_frame": [
            -0.2383000125528396,
            0.05711066131450598,
            0.9695109470148011,
            0.013631720262682234,
            0.9983678542322063,
            -0.05545993002574191,
            -0.9710959171060276,
            1.734723475976807e-18,
            -0.23868958875494245
          ],
          "force_torque_contact_frame": [
            0.18875680123702698,
            -0.13156960243228555,
            0.05718719880474143,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7599884232477769,
            -0.9469047423835768,
            1.255456075562378
          ],
          "distance_m": -0.0002737269859030777,
          "contact_frame": [
            -0.08633917945898505,
            0.14927695801313395,
            0.9850187490076999,
            0.013034496073591388,
            0.9887954236374403,
            -0.14870679912419096,
            -0.9961805298250195,
            1.734723475976807e-18,
            -0.08731753545275596
          ],
          "force_torque_contact_frame": [
            2.45936581824668,
            0.07408289053533523,
            -0.6803678120062197,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6330542243364957,
            -0.9441830582880893,
            1.2710413238000378
          ],
          "distance_m": -0.00030751426834545507,
          "contact_frame": [
            -0.14329551010956348,
            0.14799039944829087,
            0.978552624263803,
            0.02144246712691234,
            0.9889887975458241,
            -0.14642875036131386,
            -0.9894476324626541,
            0.0,
            -0.1448909335122413
          ],
          "force_torque_contact_frame": [
            3.284138166256688,
            -0.6316865022784699,
            -0.47338313101503016,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 118,
      "physics_step": 787,
      "sim_time_s": 3.9349999999999383,
      "qpos": [
        -0.6591386536769569,
        -0.9315800866879088,
        1.3109384851237096,
        0.797983182088462,
        0.43312570203942274,
        -0.3697057636660159,
        -0.19733883461943552,
        -0.26449998979679157,
        -0.15883736800409573,
        0.44409229575196474,
        -0.33155553259229453,
        -0.12833991070724465,
        1.050186958166793,
        0.6566942370596136,
        -2.976938357077637,
        0.44043026170146715,
        -0.533623100374159,
        0.39265870379719053,
        1.5728505343036676,
        0.9191327046209262,
        0.4557121948860749
      ],
      "qvel": [
        -0.002304540309627084,
        0.0024245684375857235,
        -0.0008094006811193695,
        0.010404222284710168,
        0.008169961825421429,
        0.004387127690981768,
        0.009709108854123693,
        0.009621808931322211,
        -0.05681375571625535,
        0.0008247549498015762,
        0.0033132979037526693,
        -0.0005951065301692902,
        0.04046309299015464,
        -4.617959798195213e-05,
        -0.00017233640267631217,
        -6.381153835448892e-05,
        -9.616715705158333e-05,
        -3.74886937602893e-05,
        -0.01303264617088964,
        -0.02284209675209323
      ],
      "target_rad": [
        -0.9233567714691162,
        -0.4306057095527649,
        0.12087547779083252,
        -0.2308289110660553,
        -0.1561359167098999,
        1.5345546007156372,
        0.7098933458328247,
        -4.733617305755615,
        1.1327590942382812,
        -4.017096996307373,
        2.079752206802368,
        2.0180981159210205,
        0.8825562000274658,
        0.44634300470352173
      ],
      "policy_call": 196,
      "body_poses": [
        [
          -0.6591386536769569,
          -0.9315800866879088,
          1.3109384851237096,
          0.797983182088462,
          0.43312570203942274,
          -0.3697057636660159,
          -0.19733883461943552
        ],
        [
          -0.6515341981581722,
          -0.9230935322790559,
          1.3263462964714774,
          -0.03040494898406145,
          -0.6416475831113647,
          -0.5138172375780404,
          -0.5686437940682122
        ],
        [
          -0.631712710480464,
          -0.9240340129636447,
          1.3322390142081737,
          -0.5344394414069467,
          -0.433927157018083,
          0.004356252739569216,
          -0.7253018191986714
        ],
        [
          -0.6445755958888596,
          -0.8960495395653093,
          1.33655936460928,
          -0.7598503600763262,
          0.37436015749399476,
          -0.2068771684246105,
          -0.4895750605959852
        ],
        [
          -0.6669562065865262,
          -0.8775762182221797,
          1.3059351005730135,
          -0.04898225193941658,
          -0.04270243991541428,
          -0.902902437304804,
          0.42490520040269764
        ],
        [
          -0.663325463436791,
          -0.8308366648069674,
          1.290371301206305,
          -0.1005140041465109,
          0.07612887630558655,
          -0.42088963461549134,
          -0.8983057634436731
        ],
        [
          -0.6670203864280656,
          -0.9578457948869866,
          1.3453680439923765,
          0.23479196423858073,
          0.7833315212819292,
          0.552246374617159,
          -0.16213698843055818
        ],
        [
          -0.7140864319021284,
          -0.9438561273618673,
          1.3359300057444106,
          -0.5633955334940625,
          0.16996283613959481,
          -0.22919054042374257,
          -0.7753514063639775
        ],
        [
          -0.7317971410883582,
          -0.9566487965011865,
          1.3268547435430909,
          0.21884422431296455,
          -0.548564673548378,
          -0.34224244890563016,
          0.7307900591734223
        ],
        [
          -0.740182472141653,
          -0.9728670869747399,
          1.3409015679971124,
          -0.28275779330568496,
          0.03907557048173044,
          -0.41531346330979974,
          0.8637336726734954
        ],
        [
          -0.6513482783516088,
          -0.9422356980199289,
          1.2970453933356614,
          -0.10641698308951153,
          -0.5669156625744125,
          -0.5952532285278249,
          -0.5594243927155316
        ],
        [
          -0.6326644287400768,
          -0.9398524726328663,
          1.3056322437738672,
          0.8936717521153641,
          0.0386710910359154,
          0.32430836615726216,
          -0.3077002272172593
        ],
        [
          -0.6279404625750389,
          -0.9480036410478936,
          1.2759928679852066,
          0.40279588711253295,
          0.24580596349345835,
          0.8609899869446647,
          -0.1898187135592932
        ],
        [
          -0.597524500467518,
          -0.9229763774131656,
          1.291109289798641,
          0.16159793444083695,
          0.2768078792212625,
          -0.34878799964033214,
          -0.8806874796954798
        ],
        [
          -0.5485468440001733,
          -0.9165587211373014,
          1.291162720984403,
          0.05034312525443875,
          -0.6030988411177994,
          0.6618127508217776,
          -0.44242653676253785
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6691259063563647,
            -0.8421448237688359,
            1.2503294345024651
          ],
          "distance_m": -0.0003046371835830157,
          "contact_frame": [
            -0.14442957880435756,
            0.14697680681562209,
            0.9785386630198519,
            0.02146086460838137,
            0.9891399386630202,
            -0.14540155787328216,
            -0.989282329801082,
            3.469446951953614e-18,
            -0.14601531407131038
          ],
          "force_torque_contact_frame": [
            1.3540200258259723,
            -0.42466660333014183,
            0.21084082715445762,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.760110878232184,
            -0.9469145072147471,
            1.255447131386517
          ],
          "distance_m": -0.00027377462719146083,
          "contact_frame": [
            -0.08632897978872875,
            0.14927972471179077,
            0.9850192236898778,
            0.013033203302984691,
            0.9887950059491462,
            -0.14870968973705484,
            -0.9961814306943795,
            1.734723475976807e-18,
            -0.08730725708496212
          ],
          "force_torque_contact_frame": [
            2.4477714645937416,
            0.048197288569308494,
            -0.671442483089274,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6331227114955128,
            -0.9440820084448349,
            1.2710160082160293
          ],
          "distance_m": -0.0003075238569744905,
          "contact_frame": [
            -0.1432955157937843,
            0.14799013728263125,
            0.9785526630797453,
            0.02144242914150898,
            0.9889888367757586,
            -0.14642849096211916,
            -0.9894476324626307,
            3.469446951953614e-18,
            -0.1448909335124021
          ],
          "force_torque_contact_frame": [
            3.315797627594704,
            -0.6747254316169348,
            -0.452512800888241,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 119,
      "physics_step": 793,
      "sim_time_s": 3.9649999999999377,
      "qpos": [
        -0.6592063054528682,
        -0.9315011828519433,
        1.3109126122996855,
        0.7979911396799625,
        0.4332131659704751,
        -0.3696778717298879,
        -0.19716684552777072,
        -0.26422858658575754,
        -0.1584143005260509,
        0.442342786876783,
        -0.33153631748644563,
        -0.128194977585195,
        1.0501688723281533,
        0.6579213954455356,
        -2.976934704848742,
        0.44042629798445965,
        -0.5336253716606827,
        0.3926540938920921,
        1.572849470644927,
        0.9186229369565826,
        0.455068703296331
      ],
      "qvel": [
        -0.0022420435935009615,
        0.0026619544557546196,
        -0.0008614006106413192,
        0.007987477603275044,
        0.007731941320147267,
        0.006422538064713683,
        0.008409256435592843,
        0.016176675167459263,
        -0.05865642399786023,
        0.0005909870200707732,
        0.006793571496913863,
        -0.0005445175800963672,
        0.040696130000422194,
        0.00019908025714228316,
        -0.0001051965880117263,
        -6.921581263111254e-05,
        -0.0001468309375587102,
        -3.959039749212327e-05,
        -0.019458751608076606,
        -0.020200982844777643
      ],
      "target_rad": [
        -0.9235808849334717,
        -0.43049246072769165,
        0.1218719482421875,
        -0.23094317317008972,
        -0.15595567226409912,
        1.534584403038025,
        0.7094569206237793,
        -4.732056140899658,
        1.133975625038147,
        -4.016035556793213,
        2.0794951915740967,
        2.017878293991089,
        0.8815207481384277,
        0.44615626335144043
      ],
      "policy_call": 198,
      "body_poses": [
        [
          -0.6592063054528682,
          -0.9315011828519433,
          1.3109126122996855,
          0.7979911396799625,
          0.4332131659704751,
          -0.3696778717298879,
          -0.19716684552777072
        ],
        [
          -0.6516070113733199,
          -0.9230120973986232,
          1.326321575848827,
          -0.0302524737132348,
          -0.6415855644418629,
          -0.5138410138193655,
          -0.568700416608896
        ],
        [
          -0.6317851812626707,
          -0.9239485188050481,
          1.3322137881679945,
          -0.5341393073097469,
          -0.43399182548304277,
          0.004466134908010275,
          -0.7254835280277162
        ],
        [
          -0.6446638262044775,
          -0.8959730372378607,
          1.3365454085976751,
          -0.7602578141182974,
          0.37445587219067866,
          -0.206260371591768,
          -0.4891293437985612
        ],
        [
          -0.6669868313407502,
          -0.8774691234563065,
          1.3058975783178537,
          -0.04954404923321437,
          -0.04331059210243707,
          -0.9029748897419457,
          0.424624455599101
        ],
        [
          -0.6633045753891558,
          -0.8307226970931623,
          1.2903665573152896,
          -0.10106045091485773,
          0.0766410365840899,
          -0.42057899688236006,
          -0.8983463943010115
        ],
        [
          -0.6670829948944826,
          -0.9577703477285329,
          1.3453406880864167,
          0.2348504813395555,
          0.7832380542012021,
          0.5523826919072142,
          -0.1620393888751515
        ],
        [
          -0.7141532122201951,
          -0.943798486418941,
          1.3358970800653414,
          -0.562787194121041,
          0.16990908741680716,
          -0.22922132131553832,
          -0.7757957604942884
        ],
        [
          -0.7318508496865561,
          -0.9566160116016535,
          1.3268313939958931,
          0.2184244343431156,
          -0.5481227664073872,
          -0.34257139725521457,
          0.7310930427862184
        ],
        [
          -0.7402056273856833,
          -0.9728461878740621,
          1.3408826952795718,
          -0.28325127605497347,
          0.039604422415999055,
          -0.41536575723032226,
          0.8635227223755051
        ],
        [
          -0.6514101765931133,
          -0.9421537085484358,
          1.2970203816980987,
          -0.10635004197892947,
          -0.5667695546103115,
          -0.5953460304309807,
          -0.5594864114417631
        ],
        [
          -0.6327283572659449,
          -0.9397637488397653,
          1.305609777440406,
          0.8937490278197071,
          0.03863807487055257,
          0.3242577973051429,
          -0.30753317760599697
        ],
        [
          -0.6279974822310539,
          -0.947912835325684,
          1.2759709311259952,
          0.4028860885721663,
          0.24566405718726186,
          0.86100914748465,
          -0.1897240590675558
        ],
        [
          -0.5975926429094812,
          -0.9228746693527164,
          1.2910916743269583,
          0.1615091495032353,
          0.27701958672124866,
          -0.3486725792585896,
          -0.8806829030205432
        ],
        [
          -0.5486153759516853,
          -0.9164542576302186,
          1.2911667386886383,
          0.05044148452782383,
          -0.6032339985235411,
          0.6616617897923759,
          -0.44245686297387016
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.669059252080724,
            -0.8420041616504808,
            1.2503132880627823
          ],
          "distance_m": -0.0003137080522133321,
          "contact_frame": [
            -0.14446628438935896,
            0.14694115347668668,
            0.978538599182308,
            0.02146099652441912,
            0.9891452357540528,
            -0.14536549870322757,
            -0.9892769674377907,
            0.0,
            -0.14605164051488181
          ],
          "force_torque_contact_frame": [
            1.2470153071604837,
            -0.39221314793157414,
            0.17685803013193796,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6510470894340581,
            -0.8422200722209485,
            1.2534146665830825
          ],
          "distance_m": -6.191363385650262e-08,
          "contact_frame": [
            -0.23830006230676148,
            0.05710690387938038,
            0.9695111561162691,
            0.013630823313467025,
            0.9983680691655313,
            -0.0554562812176027,
            -0.9710959174872432,
            0.0,
            -0.23868958720398625
          ],
          "force_torque_contact_frame": [
            0.17255560889043953,
            -0.12755858684988897,
            0.044997022040550574,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7602139493128781,
            -0.9469201952009046,
            1.2554395178595021
          ],
          "distance_m": -0.0002732282408984704,
          "contact_frame": [
            -0.08631918365357247,
            0.14928236816908869,
            0.9850196815735255,
            0.01303196039383613,
            0.9887946068591943,
            -0.14871245225086174,
            -0.996182295838304,
            0.0,
            -0.08729738517461841
          ],
          "force_torque_contact_frame": [
            2.4475321388214875,
            0.05413494045006162,
            -0.6533590607301538,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6331805639808928,
            -0.9439930303019974,
            1.270993750362399
          ],
          "distance_m": -0.00030816982655260404,
          "contact_frame": [
            -0.14329551898722745,
            0.14798998998854887,
            0.978552684887927,
            0.021442407799922552,
            0.9889888588165132,
            -0.14642834522233947,
            -0.9894476324626398,
            0.0,
            -0.144890933512339
          ],
          "force_torque_contact_frame": [
            3.2823017172319346,
            -0.6338204930559792,
            -0.48244979467416704,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 120,
      "physics_step": 800,
      "sim_time_s": 3.999999999999937,
      "qpos": [
        -0.6592867734998104,
        -0.9314133670948934,
        1.3108842396082288,
        0.7979914000563318,
        0.4333462277712784,
        -0.3696262504940132,
        -0.19697006690935115,
        -0.2640259307152413,
        -0.15767491454898871,
        0.4402806673383166,
        -0.33150613996450673,
        -0.1280416078145105,
        1.0501541187133612,
        0.659262833389964,
        -2.9769314815139936,
        0.44042319131691376,
        -0.5336272774825042,
        0.3926517507484438,
        1.5728480014880621,
        0.9178770318255741,
        0.45445733991160003
      ],
      "qvel": [
        -0.002293085654079297,
        0.002566365675848856,
        -0.0008259944473188419,
        0.009046743149708259,
        0.008896823942534337,
        0.005447713462217731,
        0.004809086213724029,
        0.0242834196309479,
        -0.05957372361278498,
        0.0008699769459496211,
        0.0037982618485125274,
        -0.0004139984149921982,
        0.03775775148739627,
        0.00010955818014399573,
        -8.254867884984825e-05,
        -5.967301229728409e-05,
        -7.156983141030295e-05,
        -4.1697529209270966e-05,
        -0.021487381081313855,
        -0.015137425683428185
      ],
      "target_rad": [
        -0.9235983490943909,
        -0.4305025637149811,
        0.12316733598709106,
        -0.23093831539154053,
        -0.15602922439575195,
        1.5347185134887695,
        0.7089922428131104,
        -4.7304558753967285,
        1.1349152326583862,
        -4.015149116516113,
        2.0792016983032227,
        2.017646312713623,
        0.8814396262168884,
        0.4461088180541992
      ],
      "policy_call": 200,
      "body_poses": [
        [
          -0.6592867734998104,
          -0.9314133670948934,
          1.3108842396082288,
          0.7979914000563318,
          0.4333462277712784,
          -0.3696262504940132,
          -0.19697006690935115
        ],
        [
          -0.6516935249870901,
          -0.9229221488806763,
          1.3262950082542961,
          -0.030072974160628402,
          -0.6414815376364749,
          -0.5138958247482487,
          -0.5687777548419012
        ],
        [
          -0.6318715099829233,
          -0.9238523385062872,
          1.332187585655993,
          -0.5336785631692522,
          -0.4340446007739253,
          0.004638255081934092,
          -0.7257898885644518
        ],
        [
          -0.6447754780399925,
          -0.8958908259317975,
          1.3365340121109999,
          -0.760725412057954,
          0.374580062432762,
          -0.20540023634947197,
          -0.4886689750584781
        ],
        [
          -0.66702961271734,
          -0.8773516893777852,
          1.3058573957720985,
          -0.0503228021754087,
          -0.04397055174074454,
          -0.9030875429962831,
          0.4242252890219604
        ],
        [
          -0.6632939945785037,
          -0.8305944164636827,
          1.290371835183055,
          -0.1016573758777563,
          0.07736040435890054,
          -0.4201367016840811,
          -0.8984243416476969
        ],
        [
          -0.6671562824696438,
          -0.9576891273319782,
          1.3453089242805238,
          0.23489102785339683,
          0.7831292532757601,
          0.5525580901256812,
          -0.16190841464971234
        ],
        [
          -0.7142318063143227,
          -0.9437385511249149,
          1.3358603011935355,
          -0.5621070079602959,
          0.16983606529208572,
          -0.2292244328742266,
          -0.7763037948519341
        ],
        [
          -0.7319144558697849,
          -0.9565835338605015,
          1.3268042363289716,
          0.21796565697531387,
          -0.5476218855250697,
          -0.34297013847564894,
          0.731418298231101
        ],
        [
          -0.740234926369999,
          -0.9728280625711341,
          1.340859308638444,
          -0.28381452246270705,
          0.040184400366885725,
          -0.4154518719876695,
          0.8632695250432271
        ],
        [
          -0.6514838244558653,
          -0.9420611176539452,
          1.2969921773333248,
          -0.1062397887098406,
          -0.5665982098674575,
          -0.5954443302250274,
          -0.5595762910209368
        ],
        [
          -0.6328043163270053,
          -0.9396633384386442,
          1.3055844198170146,
          0.8938403325439334,
          0.038623428817791176,
          0.3242166356464408,
          -0.3073129737486022
        ],
        [
          -0.6280655525724873,
          -0.9478077682585313,
          1.275945553762663,
          0.4029794679264346,
          0.2454973972043885,
          0.8610449547815275,
          -0.18957890768984342
        ],
        [
          -0.5976742757339438,
          -0.9227569719829071,
          1.2910726414694944,
          0.16134596239233012,
          0.27729762412927644,
          -0.348480475010301,
          -0.8807013492714457
        ],
        [
          -0.5486971009704336,
          -0.9163362685304606,
          1.2911771372124896,
          0.050643814796449166,
          -0.6033075784463022,
          0.6615794373906363,
          -0.4424565716926458
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6689844235999868,
            -0.8418409268601303,
            1.2502985218341234
          ],
          "distance_m": -0.000315739486637381,
          "contact_frame": [
            -0.1445149885328231,
            0.1468937837252408,
            0.9785385196262028,
            0.021461158288031815,
            0.9891522715451257,
            -0.14531759144045112,
            -0.9892698503311895,
            0.0,
            -0.14609983992361508
          ],
          "force_torque_contact_frame": [
            1.3654618743153526,
            -0.4273664883931749,
            0.203160438802986,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7603319161828392,
            -0.9469262828661844,
            1.255430532300494
          ],
          "distance_m": -0.00027301249353534225,
          "contact_frame": [
            -0.08630939650098239,
            0.14928501761343077,
            0.9850201376580043,
            0.013030719322066855,
            0.9887942068581094,
            -0.14871522059894154,
            -0.9961831600813104,
            1.734723475976807e-18,
            -0.0872875224211014
          ],
          "force_torque_contact_frame": [
            2.442591294495247,
            0.03419021279087853,
            -0.6457588958538465,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6332497528167453,
            -0.943889952701629,
            1.2709680030517119
          ],
          "distance_m": -0.00030822309726021783,
          "contact_frame": [
            -0.1432955236726459,
            0.14798977388599552,
            0.9785527168837426,
            0.021442376488632606,
            0.988988891153572,
            -0.14642813140017807,
            -0.989447632462629,
            0.0,
            -0.1448909335124116
          ],
          "force_torque_contact_frame": [
            3.311876279015986,
            -0.6750237781746277,
            -0.466328234931771,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 121,
      "physics_step": 807,
      "sim_time_s": 4.034999999999936,
      "qpos": [
        -0.6593672482848824,
        -0.9313242675023156,
        1.310855716180516,
        0.7980002774253915,
        0.4334709897626986,
        -0.36956815197969456,
        -0.19676849164806975,
        -0.26389750050724514,
        -0.15673441234944835,
        0.43819598134365956,
        -0.3314720274805293,
        -0.12791096513338054,
        1.0501407026558114,
        0.6605356435569896,
        -2.9769275180818804,
        0.44042066640494,
        -0.533629011729848,
        0.3926499830642116,
        1.5728466327987576,
        0.9171756865436211,
        0.45402599475695427
      ],
      "qvel": [
        -0.002306838984466436,
        0.002526559326449243,
        -0.0008061519916837802,
        0.009162654488008131,
        0.009492229734052263,
        0.0050295683066670085,
        0.0029075063091269352,
        0.02848619978560019,
        -0.05951698508369622,
        0.001075862053810989,
        0.003392732065229589,
        -0.0003626738148246311,
        0.035341996758664514,
        0.00010488666259716061,
        -7.285821081724596e-05,
        -4.169549673471219e-05,
        -3.409583343481386e-05,
        -3.6565767417614935e-05,
        -0.018310460940004443,
        -0.01027097510810992
      ],
      "target_rad": [
        -0.923602283000946,
        -0.4304766058921814,
        0.12378615140914917,
        -0.23096458613872528,
        -0.15602344274520874,
        1.534804105758667,
        0.708717942237854,
        -4.729683876037598,
        1.1353330612182617,
        -4.014801979064941,
        2.0790741443634033,
        2.0175695419311523,
        0.8814988136291504,
        0.44609522819519043
      ],
      "policy_call": 201,
      "body_poses": [
        [
          -0.6593672482848824,
          -0.9313242675023156,
          1.310855716180516,
          0.7980002774253915,
          0.4334709897626986,
          -0.36956815197969456,
          -0.19676849164806975
        ],
        [
          -0.6517798922371668,
          -0.9228305049217743,
          1.3262679848464392,
          -0.029914473837320883,
          -0.6413598839463491,
          -0.5139842228520092,
          -0.5688434250112911
        ],
        [
          -0.6319578062990637,
          -0.9237532761814375,
          1.332161489938046,
          -0.5331482386712524,
          -0.4340670880206672,
          0.0048243030308732365,
          -0.7261648881619547
        ],
        [
          -0.6448921339952663,
          -0.8958080654966046,
          1.3365224951922896,
          -0.7611797176515889,
          0.3747325362586582,
          -0.20444847560721244,
          -0.48824357090174386
        ],
        [
          -0.6670758858938264,
          -0.8772354052043408,
          1.3058151943375857,
          -0.05119339293376539,
          -0.044596108369340054,
          -0.9032095738029733,
          0.4237958110091328
        ],
        [
          -0.6632915843553161,
          -0.8304660162815437,
          1.290378118135994,
          -0.10223076630455864,
          0.07817432242380967,
          -0.4196575130061867,
          -0.8985127809396043
        ],
        [
          -0.6672287522446687,
          -0.9576059548789987,
          1.3452777051755547,
          0.23493665243707812,
          0.7830140339227203,
          0.5527371532589156,
          -0.16178823019291963
        ],
        [
          -0.7143098455724155,
          -0.9436773140041098,
          1.3358244721602122,
          -0.5614457885716693,
          0.16977228552694212,
          -0.22923357771987948,
          -0.7767933859192142
        ],
        [
          -0.7319778715075184,
          -0.9565490802030026,
          1.3267778992130919,
          0.21751418235303713,
          -0.5471395889266866,
          -0.343349789501936,
          0.7317354527104729
        ],
        [
          -0.740265107674487,
          -0.972807194439335,
          1.3408368976906238,
          -0.2843614279569834,
          0.04074766471050589,
          -0.41552574137609005,
          0.8630275571294085
        ],
        [
          -0.6515575889181896,
          -0.9419674592427826,
          1.29696393119255,
          -0.1061279757454599,
          -0.5664270210544133,
          -0.5955524426076022,
          -0.5596557608813754
        ],
        [
          -0.6328802844255528,
          -0.9395614808349291,
          1.3055586717232623,
          0.8939311183962018,
          0.038595088135735284,
          0.3241794419876726,
          -0.3070916217145463
        ],
        [
          -0.6281340120907456,
          -0.9477018287585064,
          1.2759198857392353,
          0.40306969340909904,
          0.24532028748140167,
          0.8610831991700669,
          -0.1894426111311242
        ],
        [
          -0.5977563389683781,
          -0.9226377581875562,
          1.291052308760517,
          0.1612128552096819,
          0.27756104897229317,
          -0.3483009399219068,
          -0.8807137643173615
        ],
        [
          -0.5487795093842656,
          -0.9162149223645788,
          1.2911840049254693,
          0.05086692238470136,
          -0.6033439368926432,
          0.6615303569435049,
          -0.44245478510712505
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6695056367967297,
            -0.8418590290987096,
            1.2502244000256828
          ],
          "distance_m": -0.00031678596970657994,
          "contact_frame": [
            -0.1432510882792328,
            0.1480518104015259,
            0.9785498388654745,
            0.0214449143634848,
            0.9889796061784241,
            -0.14649045774763686,
            -0.9894540117432232,
            0.0,
            -0.14484736326644593
          ],
          "force_torque_contact_frame": [
            1.3647324074629046,
            -0.4237901861362482,
            0.1941504710730332,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7604476030948728,
            -0.9469307430880227,
            1.2554215066854946
          ],
          "distance_m": -0.0002727721395642214,
          "contact_frame": [
            -0.08629989588089225,
            0.1492875873863492,
            0.9850205806090095,
            0.013029514345431394,
            0.9887938188785179,
            -0.1487179057933477,
            -0.9961839989313568,
            1.734723475976807e-18,
            -0.08727794837833121
          ],
          "force_torque_contact_frame": [
            2.4375206117769253,
            0.026232319697541473,
            -0.6330123462890893,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6333194613130407,
            -0.9437861610828033,
            1.2709420163186091
          ],
          "distance_m": -0.00030838468381462237,
          "contact_frame": [
            -0.14329552790551298,
            0.14798957865930165,
            0.9785527457886585,
            0.021442348202075426,
            0.9889889203667765,
            -0.14642793823358502,
            -0.9894476324626086,
            0.0,
            -0.14489093351255175
          ],
          "force_torque_contact_frame": [
            3.3153939077303796,
            -0.6710824899713602,
            -0.4702132021671831,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 122,
      "physics_step": 813,
      "sim_time_s": 4.0649999999999356,
      "qpos": [
        -0.659436816637297,
        -0.9312488248003634,
        1.3108316401249458,
        0.7980109824499456,
        0.4335799589519984,
        -0.36951020180465094,
        -0.1965937482392067,
        -0.2638279577431796,
        -0.15582823963477868,
        0.4364102986439971,
        -0.3314340334147465,
        -0.12782763433621674,
        1.0501302651662523,
        0.6615566387852657,
        -2.9769251764346123,
        0.4404183798965883,
        -0.5336301486464594,
        0.392649110498553,
        1.5728456213129869,
        0.9167177350677724,
        0.45378037710752844
      ],
      "qvel": [
        -0.002319191848700494,
        0.002509474017072249,
        -0.0008028352679574876,
        0.008817042123099288,
        0.010051443195739527,
        0.0050678653014460786,
        0.002101910856758459,
        0.0308352812373332,
        -0.05934481118361482,
        0.0013678105083842326,
        0.0025782324326891278,
        -0.0003449359881539945,
        0.03306901504055932,
        8.161219472030992e-05,
        -7.974267561700717e-05,
        -3.874917460318722e-05,
        -3.638764077528462e-05,
        -3.148563744191209e-05,
        -0.012848209014264802,
        -0.006849982176294886
      ],
      "target_rad": [
        -0.9234696626663208,
        -0.4303298592567444,
        0.12518030405044556,
        -0.23102538287639618,
        -0.15609997510910034,
        1.534944772720337,
        0.7080667018890381,
        -4.727853775024414,
        1.1360270977020264,
        -4.013920783996582,
        2.0786643028259277,
        2.017432451248169,
        0.8818349242210388,
        0.4460296034812927
      ],
      "policy_call": 203,
      "body_poses": [
        [
          -0.659436816637297,
          -0.9312488248003634,
          1.3108316401249458,
          0.7980109824499456,
          0.4335799589519984,
          -0.36951020180465094,
          -0.1965937482392067
        ],
        [
          -0.6518544249241408,
          -0.9227528212185634,
          1.326245116664854,
          -0.029782435104865272,
          -0.6412455225964803,
          -0.514076657423224,
          -0.5688957519631824
        ],
        [
          -0.6320323108296801,
          -0.9236685273789602,
          1.3321396289478162,
          -0.5326534333293743,
          -0.43407511207799415,
          0.004991725148327304,
          -0.7265219884607405
        ],
        [
          -0.6449953980806254,
          -0.8957386317009602,
          1.3365133340522348,
          -0.7615588051302136,
          0.37487152644575283,
          -0.20358626071892494,
          -0.48790589198671985
        ],
        [
          -0.6671187517694968,
          -0.8771381058748595,
          1.3057793374855717,
          -0.05198406372515603,
          -0.045108323570220266,
          -0.9033212121119484,
          0.42340723188427204
        ],
        [
          -0.6632957761954046,
          -0.8303574975534428,
          1.2903858472108458,
          -0.10271162905983458,
          0.07892107489405552,
          -0.41922248368956794,
          -0.8985957346674821
        ],
        [
          -0.6672906765818001,
          -0.9575357704288301,
          1.3452513588301904,
          0.23497243860464428,
          0.7829111936117381,
          0.5528969411352678,
          -0.16168793553290417
        ],
        [
          -0.7143768178451609,
          -0.943626477870885,
          1.33579478009027,
          -0.5609000031508659,
          0.16972166003429823,
          -0.22923698112631824,
          -0.7771976267749734
        ],
        [
          -0.7320326359563994,
          -0.9565203404363166,
          1.3267558430633501,
          0.2171406750149314,
          -0.5467430032246225,
          -0.34366630671698617,
          0.7319941839294113
        ],
        [
          -0.7402924901313552,
          -0.9727897210143731,
          1.3408179220211296,
          -0.2848152874596557,
          0.04120913148640608,
          -0.41558758744460467,
          0.8628261798725054
        ],
        [
          -0.6516214475672966,
          -0.9418879734329543,
          1.2969399691429033,
          -0.10602395228406129,
          -0.5662802198982662,
          -0.5956486737242344,
          -0.5597216197223379
        ],
        [
          -0.6329459544558003,
          -0.9394747512053188,
          1.3055366147400242,
          0.8940088007589775,
          0.03856798239039487,
          0.32415398081473723,
          -0.30689570153683526
        ],
        [
          -0.6281935192553559,
          -0.9476114474343712,
          1.2758978135810417,
          0.40314240874309754,
          0.2451621867709594,
          0.8611204107670847,
          -0.1893233704824105
        ],
        [
          -0.5978276504279625,
          -0.9225356490357953,
          1.2910344984704587,
          0.16116943571009962,
          0.27775876504854125,
          -0.34816261829311324,
          -0.8807140697495864
        ],
        [
          -0.5488517542824994,
          -0.9161061043581069,
          1.29118467165854,
          0.05105355671965695,
          -0.6033885141995584,
          0.6614795239416263,
          -0.4424484994711582
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6688481482969637,
            -0.8415355201140917,
            1.2502712518561057
          ],
          "distance_m": -0.00031777338448642884,
          "contact_frame": [
            -0.14461660853168976,
            0.14679493462989196,
            0.9785383404362845,
            0.021461478955074224,
            0.989166946054611,
            -0.14521762205068353,
            -0.9892549931427452,
            0.0,
            -0.14620040541033769
          ],
          "force_torque_contact_frame": [
            1.3636897191290716,
            -0.4228140972648794,
            0.18992673137662855,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7605449082471367,
            -0.946933849763749,
            1.2554137077783136
          ],
          "distance_m": -0.00027278649021866244,
          "contact_frame": [
            -0.08629236639314508,
            0.14928962503813886,
            0.9850209314315322,
            0.013028559427362635,
            0.9887935112327407,
            -0.14872003490880367,
            -0.9961846636751237,
            0.0,
            -0.08727036071015816
          ],
          "force_torque_contact_frame": [
            2.442745212208652,
            0.023216558884106786,
            -0.6214273089937593,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6334328968643852,
            -0.943760790887481,
            1.2709217046939036
          ],
          "distance_m": -0.0003081182069872939,
          "contact_frame": [
            -0.14329167013363545,
            0.14798949541004117,
            0.9785533232883095,
            0.02144175860389867,
            0.988988932823963,
            -0.14642794043382132,
            -0.9894482039289804,
            0.0,
            -0.14488703096452232
          ],
          "force_torque_contact_frame": [
            3.311099581852332,
            -0.6661832101789414,
            -0.4779678766883946,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 123,
      "physics_step": 820,
      "sim_time_s": 4.099999999999935,
      "qpos": [
        -0.6595180124102914,
        -0.931161287517832,
        1.3108037756094812,
        0.7980287283472447,
        0.4337036637333816,
        -0.36943500325241596,
        -0.19639006891542973,
        -0.2637606974561162,
        -0.1547475741149484,
        0.43434943450868224,
        -0.331380999928701,
        -0.12774044346263771,
        1.0501180888297317,
        0.6626716134695627,
        -2.976921786825021,
        0.440415187141255,
        -0.5336311857167221,
        0.39264793362192085,
        1.5728446991199825,
        0.9164119716910599,
        0.4535979743504644
      ],
      "qvel": [
        -0.0023189265518791997,
        0.0024939271928840954,
        -0.0007905912672512876,
        0.00858842697499817,
        0.010337151041984502,
        0.004930179986522095,
        0.0018495988904334306,
        0.03057603941507156,
        -0.058458872525536325,
        0.001606678283586673,
        0.0024601568433868615,
        -0.00034630283777431557,
        0.031080414721142514,
        0.0001092747321852058,
        -9.960844446242311e-05,
        -2.216806467612952e-05,
        -2.9238192983392904e-05,
        -2.1699932108134157e-05,
        -0.005675843464004883,
        -0.004153359403623711
      ],
      "target_rad": [
        -0.9233018159866333,
        -0.4301387369632721,
        0.1264825463294983,
        -0.23126082122325897,
        -0.15624845027923584,
        1.5351722240447998,
        0.7073719501495361,
        -4.726184844970703,
        1.1365067958831787,
        -4.013086795806885,
        2.0782999992370605,
        2.017335891723633,
        0.8823575973510742,
        0.4459642171859741
      ],
      "policy_call": 205,
      "body_poses": [
        [
          -0.6595180124102914,
          -0.931161287517832,
          1.3108037756094812,
          0.7980287283472447,
          0.4337036637333816,
          -0.36943500325241596,
          -0.19639006891542973
        ],
        [
          -0.6519411933085186,
          -0.9226625215680254,
          1.3262184695613384,
          -0.02962838873567239,
          -0.6411118887242127,
          -0.514193014900631,
          -0.5689492491820326
        ],
        [
          -0.6321189815729081,
          -0.9235696702967957,
          1.332113976587245,
          -0.532067263657518,
          -0.4340833064000331,
          0.005180837796372927,
          -0.7269451622842964
        ],
        [
          -0.6451163206761148,
          -0.8956580049162324,
          1.3365023831226193,
          -0.7619886561534968,
          0.37503342332105083,
          -0.20257990420188998,
          -0.4875290777984764
        ],
        [
          -0.6671703952124303,
          -0.8770258528055348,
          1.3057377672712802,
          -0.05290854313246875,
          -0.04568867790724471,
          -0.90345108252563,
          0.422953156103549
        ],
        [
          -0.6633041059863253,
          -0.8302320962969661,
          1.2903951416994661,
          -0.10325991449141218,
          0.0797964108105833,
          -0.41871376740692684,
          -0.8986927750153948
        ],
        [
          -0.6673621958356353,
          -0.9574541714981064,
          1.3452211651188468,
          0.23501250904944587,
          0.7827873313082536,
          0.5530871024897498,
          -0.16157899490056815
        ],
        [
          -0.7144544620296589,
          -0.9435677937331288,
          1.3357614094518357,
          -0.5602876521892439,
          0.16966716700274992,
          -0.22924158314768003,
          -0.7776497256486814
        ],
        [
          -0.7320965273471977,
          -0.9564864552093757,
          1.3267310326820752,
          0.2167197465422307,
          -0.546299676953616,
          -0.34401951597530367,
          0.732283952471418
        ],
        [
          -0.7403257004314507,
          -0.9727683559869233,
          1.3407966082984335,
          -0.28532437185969656,
          0.04172611311253238,
          -0.4156540233401033,
          0.8626011054876829
        ],
        [
          -0.6516961654859463,
          -0.9417957666707198,
          1.296912175131534,
          -0.10589761665596692,
          -0.5661118066838353,
          -0.5957653336417716,
          -0.5597917330136776
        ],
        [
          -0.6330226516211539,
          -0.9393739301797861,
          1.3055106975599857,
          0.8940974964862503,
          0.038529706625280505,
          0.32413124198378057,
          -0.30666605037799605
        ],
        [
          -0.6282635076697675,
          -0.9475065370970748,
          1.2758718505247375,
          0.4032209789414119,
          0.2449723846324664,
          0.8611673563896607,
          -0.18918815290037
        ],
        [
          -0.5979112874593092,
          -0.9224167975139058,
          1.2910128075735707,
          0.16122577826764975,
          0.27794226710416503,
          -0.348033635175282,
          -0.8806968453251462
        ],
        [
          -0.5489373891958625,
          -0.9159723916391708,
          1.2911768862231428,
          0.05123717494030076,
          -0.6034874890072659,
          0.6613800235533116,
          -0.44244103218447234
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6693631466642881,
            -0.8415559349209161,
            1.2501988240482969
          ],
          "distance_m": -0.00031797001815077715,
          "contact_frame": [
            -0.1432561299127496,
            0.148046072178022,
            0.9785499689617702,
            0.0214448192817364,
            0.9889804651825334,
            -0.14648467228114265,
            -0.9894532838736729,
            3.469446951953614e-18,
            -0.1448523352645891
          ],
          "force_torque_contact_frame": [
            1.364180904852237,
            -0.4165457145706165,
            0.17889190357200535,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7606561815751304,
            -0.9469361091638591,
            1.2554046879016452
          ],
          "distance_m": -0.00027261738791375354,
          "contact_frame": [
            -0.08628396986593868,
            0.14929189681401622,
            0.9850213226574575,
            0.013027494464731828,
            0.9887931682337178,
            -0.14872240867568765,
            -0.9961854048981773,
            1.734723475976807e-18,
            -0.08726189929089805
          ],
          "force_torque_contact_frame": [
            2.4371613555418072,
            0.0119639222554897,
            -0.6084720895867558,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6335043111548548,
            -0.9436581224846228,
            1.2708956020140139
          ],
          "distance_m": -0.00030835028822358366,
          "contact_frame": [
            -0.14329186656933493,
            0.14798931256421985,
            0.9785533221760814,
            0.02144176091276521,
            0.9889889601844752,
            -0.1464277552999778,
            -0.989448175431152,
            -3.469446951953614e-18,
            -0.14488722557894562
          ],
          "force_torque_contact_frame": [
            3.314641713209512,
            -0.6629751160471566,
            -0.47933006760652264,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 124,
      "physics_step": 827,
      "sim_time_s": 4.134999999999934,
      "qpos": [
        -0.6595996137006327,
        -0.9310753583321048,
        1.3107766646104564,
        0.7980449793234651,
        0.43383612588455084,
        -0.36935152865014115,
        -0.19618836646931603,
        -0.2637085647554889,
        -0.153649970553182,
        0.43231235754134756,
        -0.33131729793007086,
        -0.12766277854586777,
        1.0501062418238674,
        0.6637154837896527,
        -2.9769188206979327,
        0.4404115040246617,
        -0.5336317110054076,
        0.39264703975497495,
        1.5728441388758523,
        0.9163034349162971,
        0.45348433565764407
      ],
      "qvel": [
        -0.002343714869213795,
        0.002497334888278917,
        -0.000789751474459494,
        0.008057153451425516,
        0.010712694524338422,
        0.005585317017716615,
        0.001061542404117725,
        0.03239516901114391,
        -0.05833399110844211,
        0.002028642840358145,
        0.0019398051561065638,
        -0.00034104149043968766,
        0.02896088790008968,
        2.1424482631180125e-05,
        -0.00010219141721602739,
        -9.26548076202234e-06,
        -1.6690676678143868e-05,
        -5.489721793785592e-06,
        -0.0024609927725348524,
        -0.002821981461347762
      ],
      "target_rad": [
        -0.9232134222984314,
        -0.4300916790962219,
        0.1271631121635437,
        -0.2314155399799347,
        -0.15644943714141846,
        1.5353068113327026,
        0.7070248126983643,
        -4.725307464599609,
        1.1366716623306274,
        -4.012613296508789,
        2.078120231628418,
        2.017289876937866,
        0.8826967477798462,
        0.4459620714187622
      ],
      "policy_call": 206,
      "body_poses": [
        [
          -0.6595996137006327,
          -0.9310753583321048,
          1.3107766646104564,
          0.7980449793234651,
          0.43383612588455084,
          -0.36935152865014115,
          -0.19618836646931603
        ],
        [
          -0.6520282928234894,
          -0.9225740658413938,
          1.3261926668861022,
          -0.02946674746763927,
          -0.6409750338482865,
          -0.5143118413418811,
          -0.5690044346333254
        ],
        [
          -0.6322059612583859,
          -0.9234724054565051,
          1.3320891198248632,
          -0.5314672323045462,
          -0.43409441890792905,
          0.005372849295943248,
          -0.7273759337165179
        ],
        [
          -0.6452382826587496,
          -0.8955794414302721,
          1.3364926589411756,
          -0.7624102236209411,
          0.3751876460625156,
          -0.20156612717140765,
          -0.4871714046795594
        ],
        [
          -0.6672241755813274,
          -0.8769158917727696,
          1.305698287523839,
          -0.05383683541626448,
          -0.046253466413292005,
          -0.9035850504871927,
          0.42248818744809136
        ],
        [
          -0.6633163087422566,
          -0.8301085906914958,
          1.2904075994341855,
          -0.10379719981551441,
          0.08067689340808534,
          -0.4181936300935632,
          -0.898794452547214
        ],
        [
          -0.6674334995482336,
          -0.957374941102192,
          1.3451912812855857,
          0.23504270022717647,
          0.7826622777559968,
          0.5532838097648615,
          -0.16146737719983326
        ],
        [
          -0.7145321090614067,
          -0.9435117456099922,
          1.3357291043336,
          -0.5596993754626796,
          0.16961240360789365,
          -0.22923441576741604,
          -0.7780872857699264
        ],
        [
          -0.7321607679147315,
          -0.9564541260652629,
          1.3267065125333397,
          0.21631765807354042,
          -0.5458728927678702,
          -0.34436950640522124,
          0.7325565499024906
        ],
        [
          -0.7403604564753119,
          -0.9727483824996342,
          1.3407749991172062,
          -0.28581792708695236,
          0.04221752094811616,
          -0.4157260192136049,
          0.8623790758300679
        ],
        [
          -0.6517713301443271,
          -0.9417048096931648,
          1.2968848418241934,
          -0.10575960931500145,
          -0.565944521835809,
          -0.5958795703540488,
          -0.5598653774580548
        ],
        [
          -0.633099731844309,
          -0.9392743535750355,
          1.3054850918194325,
          0.8941855499730565,
          0.038497371773313104,
          0.3241165535226701,
          -0.30642880791223936
        ],
        [
          -0.6283341140658967,
          -0.947402212029751,
          1.2758459824514001,
          0.40329342708030097,
          0.24478157666805228,
          0.8612194970686587,
          -0.18904329997790206
        ],
        [
          -0.597995636519408,
          -0.9222985571163318,
          1.2909914165673035,
          0.16137217562252748,
          0.2780901977622552,
          -0.34792067989882247,
          -0.8806679642987719
        ],
        [
          -0.5490245560790306,
          -0.9158329736726605,
          1.291163204910937,
          0.051397347756257435,
          -0.6036338992228568,
          0.661243645047951,
          -0.4424265704456858
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6691591081293439,
            -0.841225148322432,
            1.2501716379898355
          ],
          "distance_m": -0.0003317482266621098,
          "contact_frame": [
            -0.14325936085603683,
            0.14801956921243398,
            0.9785535052603335,
            0.02144137783082112,
            0.9889844321980835,
            -0.14645839063211952,
            -0.9894528906642479,
            0.0,
            -0.1448550211631071
          ],
          "force_torque_contact_frame": [
            1.3724506508465888,
            -0.41997979098304195,
            0.17347528427556008,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7607653440353785,
            -0.9469371035767931,
            1.2553955009099862
          ],
          "distance_m": -0.0002727537863507408,
          "contact_frame": [
            -0.08627641360693065,
            0.14929394443101332,
            0.9850216741835458,
            0.013026536327132807,
            0.9887928590742499,
            -0.1487245480581077,
            -0.9961860718793671,
            0.0,
            -0.08725428467162101
          ],
          "force_torque_contact_frame": [
            2.43711810169271,
            0.003481337107489657,
            -0.5978249138070674,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6335764162292038,
            -0.9435560040575415,
            1.2708696072356858
          ],
          "distance_m": -0.00030833599925031674,
          "contact_frame": [
            -0.1432920735888823,
            0.1479891198667254,
            0.9785533210038533,
            0.021441763345948286,
            0.9889889890191256,
            -0.1464275601911893,
            -0.9894481453978348,
            0.0,
            -0.14488743067908036
          ],
          "force_torque_contact_frame": [
            3.310669787019464,
            -0.6623444761965136,
            -0.48571538490731103,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 125,
      "physics_step": 833,
      "sim_time_s": 4.164999999999933,
      "qpos": [
        -0.6596698983540659,
        -0.9310009668869913,
        1.3107532839454552,
        0.7980679070779977,
        0.43393663120561277,
        -0.3692787542793625,
        -0.19600973809469477,
        -0.2636821453001407,
        -0.15267257498954612,
        0.43057355657337026,
        -0.33125396475467006,
        -0.12760736968901576,
        1.0500964863202145,
        0.6645554130131505,
        -2.9769172595934097,
        0.44040818079331673,
        -0.5336319890216703,
        0.3926466967009583,
        1.5728440073198435,
        0.9162339934035469,
        0.453401956435847
      ],
      "qvel": [
        -0.00234605237070428,
        0.0025462359242926875,
        -0.0007997471715955254,
        0.0069117441064238,
        0.010865733501487172,
        0.00648681422425713,
        0.0006194138178466891,
        0.0330541536737085,
        -0.057946446166337276,
        0.0022246289820987163,
        0.001691294702347263,
        -0.00032395661653516014,
        0.027378260041700297,
        3.372256580908899e-05,
        -0.00010475260444216302,
        -6.635259017135071e-06,
        -4.396743291190194e-06,
        3.1414198520308766e-06,
        -0.0022679330666916186,
        -0.0027218457441939067
      ],
      "target_rad": [
        -0.9233530163764954,
        -0.4299592077732086,
        0.12823891639709473,
        -0.23191310465335846,
        -0.15659475326538086,
        1.5356584787368774,
        0.7063599824905396,
        -4.724020481109619,
        1.1370710134506226,
        -4.012039661407471,
        2.078024387359619,
        2.0173847675323486,
        0.882980227470398,
        0.4459601640701294
      ],
      "policy_call": 208,
      "body_poses": [
        [
          -0.6596698983540659,
          -0.9310009668869913,
          1.3107532839454552,
          0.7980679070779977,
          0.43393663120561277,
          -0.3692787542793625,
          -0.19600973809469477
        ],
        [
          -0.6521031918642505,
          -0.9224969807426083,
          1.3261700661179168,
          -0.02934034492792901,
          -0.6408539503923193,
          -0.5144301857418216,
          -0.5690403697662442
        ],
        [
          -0.6322807590563144,
          -0.9233872880927815,
          1.3320673969037122,
          -0.5309455320563824,
          -0.43409104761824174,
          0.005526600339896388,
          -0.7277576939172442
        ],
        [
          -0.6453440639869207,
          -0.8955107287372819,
          1.3364829945743912,
          -0.7627588626316149,
          0.3753342219001561,
          -0.20069080284831883,
          -0.48687405044798465
        ],
        [
          -0.6672717925431892,
          -0.8768217285121152,
          1.3056625975075733,
          -0.054647876531204814,
          -0.04672663616678313,
          -0.9036946635867883,
          0.42209736562543076
        ],
        [
          -0.6633295661066176,
          -0.8300030582278954,
          1.2904155989983481,
          -0.10425149512898516,
          0.08144977944152705,
          -0.41775412613907836,
          -0.8988765484125574
        ],
        [
          -0.6674945459555316,
          -0.9573052054771592,
          1.3451664439914957,
          0.23507918374451148,
          0.7825495055480391,
          0.5534522584175556,
          -0.1613835381600026
        ],
        [
          -0.7145987161144874,
          -0.9434623679749071,
          1.3357021424577122,
          -0.5592110057734068,
          0.1695779542888465,
          -0.2292382743745832,
          -0.7784447199402589
        ],
        [
          -0.7322162059973902,
          -0.956424614094234,
          1.3266862557360515,
          0.21597619223286277,
          -0.545525287607249,
          -0.3446486539372816,
          0.7327849277303958
        ],
        [
          -0.740391595026786,
          -0.9727286429975237,
          1.3407575618495127,
          -0.28622632239555085,
          0.042625283748734324,
          -0.41577190942452347,
          0.8622014247765679
        ],
        [
          -0.6518361770630747,
          -0.9416265235295065,
          1.2968615469492486,
          -0.1056466655568459,
          -0.5658006603113381,
          -0.5959880993166391,
          -0.5599165833594444
        ],
        [
          -0.6331661582397627,
          -0.9391883267789726,
          1.305463034828846,
          0.8942608557557122,
          0.03845329675184612,
          0.324103024584619,
          -0.3062288283083049
        ],
        [
          -0.6283952157153999,
          -0.9473130401942517,
          1.2758239198058092,
          0.40335611737655586,
          0.24460899215282822,
          0.8612633726595731,
          -0.1889330210628743
        ],
        [
          -0.5980684994543001,
          -0.922196854870417,
          1.2909721342222853,
          0.16151579127317942,
          0.27820727572561443,
          -0.34783984189044004,
          -0.8806365909365588
        ],
        [
          -0.5490999581617334,
          -0.915712210921575,
          1.2911492119875194,
          0.05152125094289898,
          -0.6037662830049424,
          0.661116050049733,
          -0.44242220171948105
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.668659635954067,
            -0.8410692819107431,
            1.2502316482521583
          ],
          "distance_m": -0.0003113146944004565,
          "contact_frame": [
            -0.14480680489709472,
            0.14661108781798154,
            0.978537775553056,
            0.021462199164960786,
            0.9891942119365782,
            -0.1450316692249505,
            -0.9892271545315051,
            -3.469446951953614e-18,
            -0.14638864961977652
          ],
          "force_torque_contact_frame": [
            1.3598596719318987,
            -0.40952491035664473,
            0.16879141208192455,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7608573988434904,
            -0.9469372369338247,
            1.2553875675863184
          ],
          "distance_m": -0.0002730253605574813,
          "contact_frame": [
            -0.08627008731422008,
            0.1492956556348914,
            0.9850219689140669,
            0.013025733847598947,
            0.9887926007047928,
            -0.1487263360981625,
            -0.9961866302518462,
            0.0,
            -0.0872479094733601
          ],
          "force_torque_contact_frame": [
            2.4458865705915125,
            0.00292456916308359,
            -0.5898136954719777,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6336388581152242,
            -0.9434689149223694,
            1.2708473297485259
          ],
          "distance_m": -0.000308264204546434,
          "contact_frame": [
            -0.14329222320510504,
            0.1479889806006235,
            0.9785533201567133,
            0.021441765104301493,
            0.9889890098584455,
            -0.14642741918241842,
            -0.9894481236922686,
            0.0,
            -0.1448875789080958
          ],
          "force_torque_contact_frame": [
            3.3101380593005505,
            -0.6574331432948941,
            -0.48933063628538886,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 126,
      "physics_step": 840,
      "sim_time_s": 4.199999999999933,
      "qpos": [
        -0.6597517566070499,
        -0.9309168622470038,
        1.3107270646737492,
        0.7980863723815558,
        0.4340758208474671,
        -0.36918010125098727,
        -0.1958120956804181,
        -0.26366058860097036,
        -0.1515395207295964,
        0.4285740947776756,
        -0.3311760219791838,
        -0.12754627456689677,
        1.0500860643465435,
        0.6654780790708757,
        -2.9769135072882085,
        0.44040408970447265,
        -0.5336322724959154,
        0.39264675779260133,
        1.5728439276707302,
        0.9161578785455485,
        0.45330767287478846
      ],
      "qvel": [
        -0.0023341247348521027,
        0.0023513885532934543,
        -0.0007370803722479431,
        0.009541441135716804,
        0.011515096367659534,
        0.0030623061509241207,
        0.0005760761614689131,
        0.0315427340078133,
        -0.056610246079124585,
        0.0022903669283431865,
        0.0016771169661120454,
        -0.000294158049176829,
        0.02584703192847854,
        9.628692328107824e-05,
        -0.00011462092810157537,
        -3.203139545689631e-06,
        8.761700695722862e-06,
        -1.6249757095706889e-06,
        -0.0020870295334817343,
        -0.0026620884192126116
      ],
      "target_rad": [
        -0.9233509302139282,
        -0.43011802434921265,
        0.12942010164260864,
        -0.23239432275295258,
        -0.1571841835975647,
        1.536128282546997,
        0.7058355808258057,
        -4.722862720489502,
        1.1372140645980835,
        -4.0114569664001465,
        2.077951431274414,
        2.0172765254974365,
        0.8839670419692993,
        0.44611436128616333
      ],
      "policy_call": 210,
      "body_poses": [
        [
          -0.6597517566070499,
          -0.9309168622470038,
          1.3107270646737492,
          0.7980863723815558,
          0.4340758208474671,
          -0.36918010125098727,
          -0.1958120956804181
        ],
        [
          -0.6521902451188083,
          -0.922410533842395,
          1.3261451034947582,
          -0.029171258560617856,
          -0.6407138102215898,
          -0.5145581094368654,
          -0.5690912080484825
        ],
        [
          -0.6323676209772243,
          -0.9232915388048268,
          1.3320431881328132,
          -0.5303246919975697,
          -0.4341041302353376,
          0.00571662319201504,
          -0.7282009649743567
        ],
        [
          -0.6454671722995563,
          -0.8954344490502318,
          1.3364742495810478,
          -0.7631633717950317,
          0.375480642510696,
          -0.19966866085957663,
          -0.48654740870827407
        ],
        [
          -0.6673286202488193,
          -0.8767148780725447,
          1.3056253332243426,
          -0.05558139118721553,
          -0.04726270860847076,
          -0.9038323679451233,
          0.42162067784134527
        ],
        [
          -0.6633479514658308,
          -0.8298822200580179,
          1.2904313732620902,
          -0.10476779518590625,
          0.0823382557514345,
          -0.4172214024585904,
          -0.8989829931996389
        ],
        [
          -0.667564850050123,
          -0.9572284985971178,
          1.3451371943695114,
          0.23509612130988566,
          0.7824212086431355,
          0.5536578174049211,
          -0.1612758110718458
        ],
        [
          -0.7146757436814006,
          -0.9434092150999711,
          1.3356719365870766,
          -0.5586634216799586,
          0.16952337684852656,
          -0.22922019586787423,
          -0.7788549979200279
        ],
        [
          -0.7322805659354493,
          -0.9563933983552582,
          1.326662874138271,
          0.21560458096427854,
          -0.5451264962679415,
          -0.34498451799417795,
          0.7330330484215432
        ],
        [
          -0.7404284760640796,
          -0.9727092199204641,
          1.3407364496323708,
          -0.28668946845742727,
          0.04307804575709388,
          -0.4158470717468188,
          0.8619887722986556
        ],
        [
          -0.6519118417921342,
          -0.9415370401882539,
          1.2968347086391865,
          -0.10549207328654014,
          -0.565638071191894,
          -0.5961021783337335,
          -0.559988560488336
        ],
        [
          -0.6332435460338848,
          -0.939090147801186,
          1.3054374669833826,
          0.8943461501057625,
          0.038423004983889036,
          0.3241032845854955,
          -0.30598316522302677
        ],
        [
          -0.6284668159463981,
          -0.9472094962139584,
          1.2757978139654522,
          0.4034160822707313,
          0.2444138903435199,
          0.8613240782046943,
          -0.18878068512777935
        ],
        [
          -0.5981537807016093,
          -0.9220793018794107,
          1.290950177192555,
          0.1616841094907193,
          0.2783416630480474,
          -0.3477191411522041,
          -0.8806109051256482
        ],
        [
          -0.5491882797411312,
          -0.9155718945734749,
          1.291132840391009,
          0.051678330312327304,
          -0.6039265525360318,
          0.6609765779738069,
          -0.44239352695095935
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6689923309692404,
            -0.840907493299668,
            1.2501513462099418
          ],
          "distance_m": -0.0003252413886397945,
          "contact_frame": [
            -0.14329463220915262,
            0.14801418584102047,
            0.9785491552139135,
            0.02144585936065203,
            0.9889852379028818,
            -0.14645229368795587,
            -0.9894476860836691,
            3.469446951953614e-18,
            -0.1448905673385027
          ],
          "force_torque_contact_frame": [
            1.3581546796190966,
            -0.40621175738786286,
            0.16037957202908032,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.760962986800902,
            -0.9469357020720153,
            1.255378422403853
          ],
          "distance_m": -0.0002729236622225573,
          "contact_frame": [
            -0.0862635124974572,
            0.149297440477237,
            0.9850222742042674,
            0.013024900392015273,
            0.9887923312136608,
            -0.14872820076512794,
            -0.9961872105088376,
            1.734723475976807e-18,
            -0.08724128391203831
          ],
          "force_torque_contact_frame": [
            2.442294452647534,
            -0.006390393685872353,
            -0.5795848446927666,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6337121386030268,
            -0.9433675539303494,
            1.270821292142582
          ],
          "distance_m": -0.00030822104991914023,
          "contact_frame": [
            -0.1432924302792071,
            0.1479887878522706,
            0.9785533189840472,
            0.021441767537976393,
            0.9889890387006399,
            -0.14642722402214603,
            -0.9894480936509638,
            3.469446951953614e-18,
            -0.1448877840622668
          ],
          "force_torque_contact_frame": [
            3.313596882776687,
            -0.6540103413825473,
            -0.4894521136614902,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 127,
      "physics_step": 847,
      "sim_time_s": 4.234999999999932,
      "qpos": [
        -0.6598333935439813,
        -0.9308331164658706,
        1.3107008782302203,
        0.798107329160113,
        0.4342117437728338,
        -0.36907933392983633,
        -0.195615178287816,
        -0.2636450594945168,
        -0.15044145385533642,
        0.42660895481079103,
        -0.33109242436298975,
        -0.12749439015841538,
        1.05007608415895,
        0.6663592006810032,
        -2.976910481049594,
        0.44040008567406425,
        -0.533632223733369,
        0.3926469547910031,
        1.5728439291980765,
        0.9160897841527587,
        0.45321552038877966
      ],
      "qvel": [
        -0.002331821863231757,
        0.002427589584254499,
        -0.0007562321153821898,
        0.008031588612909047,
        0.011394359277457147,
        0.004471917654641088,
        0.0003259969459591284,
        0.03147160762419487,
        -0.055872771936901024,
        0.0024540452001499484,
        0.001380737374719855,
        -0.0002771683779775491,
        0.024657633410242994,
        8.871928604067524e-05,
        -0.00011249737017059649,
        2.839897765298479e-06,
        5.284639642131677e-06,
        2.8397536665517206e-06,
        -0.0018863543644267896,
        -0.0026170404890647177
      ],
      "target_rad": [
        -0.9234209060668945,
        -0.43005621433258057,
        0.12989670038223267,
        -0.232687309384346,
        -0.15726977586746216,
        1.536291480064392,
        0.7055435180664062,
        -4.722290515899658,
        1.1373376846313477,
        -4.011158466339111,
        2.0779120922088623,
        2.0173237323760986,
        0.8841339945793152,
        0.44612032175064087
      ],
      "policy_call": 211,
      "body_poses": [
        [
          -0.6598333935439813,
          -0.9308331164658706,
          1.3107008782302203,
          0.798107329160113,
          0.4342117437728338,
          -0.36907933392983633,
          -0.195615178287816
        ],
        [
          -0.6522769620644123,
          -0.9223243615500266,
          1.3261200686459549,
          -0.029004194069082834,
          -0.6405742122156982,
          -0.5146895039535007,
          -0.5691380762967275
        ],
        [
          -0.6324541275699676,
          -0.9231959747160747,
          1.3320188416619831,
          -0.529718048149308,
          -0.4341158013726277,
          0.005893900375368272,
          -0.7286340112854005
        ],
        [
          -0.6455892495887484,
          -0.8953579987305221,
          1.3364647006992825,
          -0.7635560539326847,
          0.37562705992917117,
          -0.19867226462097334,
          -0.4862260746011954
        ],
        [
          -0.6673858422578508,
          -0.8766088224461546,
          1.3055878838120945,
          -0.05649510154095609,
          -0.04779015703946693,
          -0.9039633532447447,
          0.4211587116308248
        ],
        [
          -0.663367347599766,
          -0.8297627199921064,
          1.2904454142133877,
          -0.10527919493803409,
          0.08320985742981415,
          -0.4167043034421041,
          -0.8990828294615238
        ],
        [
          -0.6676347037923074,
          -0.957151931474653,
          1.3451081913655532,
          0.23511339923506921,
          0.7822919071459482,
          0.5538632203310488,
          -0.1611725618044391
        ],
        [
          -0.7147523581723112,
          -0.943356209208188,
          1.3356422158282375,
          -0.5581308667309102,
          0.16947247034357651,
          -0.22920293840638337,
          -0.7792528668049467
        ],
        [
          -0.732344804741133,
          -0.9563617365389894,
          1.3266397678177835,
          0.21524191316576188,
          -0.5447399895396268,
          -0.3453101703149852,
          0.7332735839304082
        ],
        [
          -0.7404660284574733,
          -0.9726889487908735,
          1.3407155578642098,
          -0.2871401610072572,
          0.04351727504212971,
          -0.4159182900849211,
          0.8617823104952135
        ],
        [
          -0.6519873949061318,
          -0.9414480020015493,
          1.2968079120084481,
          -0.10533717083381652,
          -0.5654774456778802,
          -0.5962179679154955,
          -0.560056669994264
        ],
        [
          -0.6333207617395086,
          -0.9389923817172525,
          1.3054117910895413,
          0.894430197305347,
          0.03838918026279731,
          0.32410588831307846,
          -0.30573888556717455
        ],
        [
          -0.6285384684411534,
          -0.9471065343743151,
          1.2757716123204046,
          0.40347351926001246,
          0.24421730434331784,
          0.8613855507740766,
          -0.18863181182627514
        ],
        [
          -0.5982389915699289,
          -0.9219622777043145,
          1.2909277642810195,
          0.16185763162051264,
          0.27847084914745523,
          -0.3476015353130911,
          -0.8805846159849005
        ],
        [
          -0.5492765661713078,
          -0.9154319104401876,
          1.2911153875207295,
          0.05182983295956325,
          -0.6040901986313439,
          0.6608344654606171,
          -0.44236467941315866
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6689280016784295,
            -0.8407511205215419,
            1.2501404598985222
          ],
          "distance_m": -0.0003187013600388268,
          "contact_frame": [
            -0.1432953383559616,
            0.14801171853351466,
            0.9785494250073454,
            0.021445599545918185,
            0.9889856071636004,
            -0.14644983811312487,
            -0.9894475894485603,
            0.0,
            -0.14489122725145714
          ],
          "force_torque_contact_frame": [
            1.3570256923672912,
            -0.40172167006310516,
            0.15484392884733983,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7610670166635202,
            -0.9469331193827464,
            1.2553691539205702
          ],
          "distance_m": -0.0002730133571002834,
          "contact_frame": [
            -0.08625720382416407,
            0.149299152965831,
            0.9850225671080446,
            0.013024100642021294,
            0.9887920726440345,
            -0.14872998984327643,
            -0.9961877672361288,
            0.0,
            -0.08723492654376964
          ],
          "force_torque_contact_frame": [
            2.4433688228821295,
            -0.012402158642069172,
            -0.5723419557384901,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6337855153338982,
            -0.9432667890859842,
            1.2707952509430152
          ],
          "distance_m": -0.00030833378878682507,
          "contact_frame": [
            -0.14329262865294892,
            0.14798860320213342,
            0.9785533178606108,
            0.02144176986928841,
            0.9889890663310094,
            -0.1464270370614354,
            -0.9894480648718258,
            0.0,
            -0.14488798059673358
          ],
          "force_torque_contact_frame": [
            3.3134288945148676,
            -0.6520612765513825,
            -0.49090824460280735,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 128,
      "physics_step": 853,
      "sim_time_s": 4.264999999999931,
      "qpos": [
        -0.6599033463884851,
        -0.9307595899584848,
        1.3106780825022348,
        0.7981358140172965,
        0.4343080703378936,
        -0.36899670775203874,
        -0.1954409171347676,
        -0.26364022301400053,
        -0.14949061747351974,
        0.42494175051735733,
        -0.33101669528665567,
        -0.12745562731377907,
        1.050068046748184,
        0.6670790385549783,
        -2.9769068700485017,
        0.4403968704435626,
        -0.5336321490750165,
        0.39264722004657393,
        1.5728440706492017,
        0.9160344849754127,
        0.45313756384471576
      ],
      "qvel": [
        -0.0023317031776965273,
        0.0024614982620874983,
        -0.0007608791091311842,
        0.007223655216071746,
        0.011418458981767379,
        0.00507518149682414,
        3.974225931629398e-05,
        0.03182113839172768,
        -0.05534081930329976,
        0.002573647617560319,
        0.0012259405759139478,
        -0.0002622449640106892,
        0.023494217813675423,
        0.0001456229237529667,
        -0.00010255768444017347,
        2.162601780955198e-06,
        1.2568813326563003e-05,
        5.624962761035648e-06,
        -0.0018068658062432863,
        -0.002583011436568561
      ],
      "target_rad": [
        -0.9236873388290405,
        -0.4300374388694763,
        0.13078659772872925,
        -0.23319017887115479,
        -0.15738248825073242,
        1.5366384983062744,
        0.7049763798713684,
        -4.721381187438965,
        1.1377143859863281,
        -4.010822772979736,
        2.0779411792755127,
        2.0173909664154053,
        0.8843984007835388,
        0.4461711645126343
      ],
      "policy_call": 213,
      "body_poses": [
        [
          -0.6599033463884851,
          -0.9307595899584848,
          1.3106780825022348,
          0.7981358140172965,
          0.4343080703378936,
          -0.36899670775203874,
          -0.1954409171347676
        ],
        [
          -0.6523511493461118,
          -0.9222480748007006,
          1.3260978240549322,
          -0.028878650200014004,
          -0.6404544282812449,
          -0.5148165255724366,
          -0.5691643821033546
        ],
        [
          -0.6325281387565613,
          -0.9231113695064194,
          1.3319972285517985,
          -0.5292066900980406,
          -0.43411169359308444,
          0.006028964117328076,
          -0.7290068368903628
        ],
        [
          -0.6456938580935744,
          -0.8952896581003935,
          1.3364543810933673,
          -0.7638788521005853,
          0.37576872928289173,
          -0.19783048638785866,
          -0.485952734391068
        ],
        [
          -0.6674353827477907,
          -0.8765168148721075,
          1.3055531295451483,
          -0.05727850970780127,
          -0.048234396503325866,
          -0.9040654864237565,
          0.42078285561199996
        ],
        [
          -0.6633851782996907,
          -0.8296598767610097,
          1.2904526926381799,
          -0.10571161142261902,
          0.08395966272237586,
          -0.416280931928044,
          -0.8991585043578784
        ],
        [
          -0.6676945238789254,
          -0.9570828997985388,
          1.345084253091636,
          0.23514477443677237,
          0.7821767382756419,
          0.5540337808623783,
          -0.1610995183695318
        ],
        [
          -0.7148179284307586,
          -0.943307549326697,
          1.3356172333482224,
          -0.557685701139234,
          0.16944352464362009,
          -0.22920517385120817,
          -0.7795771539629832
        ],
        [
          -0.7324000710970652,
          -0.9563311589832091,
          1.3266207985884717,
          0.21492828416491966,
          -0.5444252319401944,
          -0.3455637141928095,
          0.7334798694756786
        ],
        [
          -0.7404991950777158,
          -0.9726671512142679,
          1.3406991347320945,
          -0.28751339028069767,
          0.043886760740955044,
          -0.41595723377532823,
          0.8616203237568977
        ],
        [
          -0.6520522596630492,
          -0.9413706291571233,
          1.2967850524383993,
          -0.1052176430249192,
          -0.5653402366380414,
          -0.5963290589478052,
          -0.5600993821535146
        ],
        [
          -0.6333869996237752,
          -0.9389072246350304,
          1.3053896852502518,
          0.8945014918309153,
          0.038339362090553365,
          0.3241030524870631,
          -0.3055394995664618
        ],
        [
          -0.6286001278997551,
          -0.9470183329907301,
          1.275749412303805,
          0.4035258423628118,
          0.2440412009602459,
          0.861434121507476,
          -0.18852596925067514
        ],
        [
          -0.5983120713531095,
          -0.921861481830413,
          1.2909074911640976,
          0.16201271288505364,
          0.2785741907653097,
          -0.3475220378277846,
          -0.8805547878054502
        ],
        [
          -0.5493522671306422,
          -0.9153115965926812,
          1.2910987341253313,
          0.05194236031424479,
          -0.6042316313716095,
          0.6607034047993696,
          -0.4423540863850005
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.668501480327533,
            -0.8406341228587766,
            1.250197665162536
          ],
          "distance_m": -0.00029435459687341667,
          "contact_frame": [
            -0.1449663512387799,
            0.14645586522542084,
            0.9785373966024947,
            0.021462599197085902,
            0.989217205441289,
            -0.14487469514940102,
            -0.9892037777142887,
            3.469446951953614e-18,
            -0.14654653239084184
          ],
          "force_torque_contact_frame": [
            1.341527247239058,
            -0.39005715754218867,
            0.15121466643469283,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7611545138527871,
            -0.9469308724124454,
            1.25536156977597
          ],
          "distance_m": -0.0002726500122014128,
          "contact_frame": [
            -0.08626125767867929,
            0.1493006202701988,
            0.9850219897091772,
            0.013024843663997246,
            0.9887918510925005,
            -0.1487313976959624,
            -0.996187406501016,
            -1.734723475976807e-18,
            -0.08723904589562563
          ],
          "force_torque_contact_frame": [
            2.4517900821543526,
            -0.010610392101435662,
            -0.5656736307507586,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.633848649596635,
            -0.9431806910439284,
            1.270772986734837
          ],
          "distance_m": -0.0003083309120874142,
          "contact_frame": [
            -0.14329276040455236,
            0.14798848056511169,
            0.9785533171144397,
            0.021441771417598593,
            0.9889890846819441,
            -0.14642691288983012,
            -0.9894480457578958,
            0.0,
            -0.14488811112676223
          ],
          "force_torque_contact_frame": [
            3.314545717900627,
            -0.6470505770924533,
            -0.4937653168992333,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 129,
      "physics_step": 860,
      "sim_time_s": 4.2999999999999305,
      "qpos": [
        -0.6599852152729422,
        -0.9306706461700791,
        1.3106506076498239,
        0.7981870466580131,
        0.43438607577007826,
        -0.36890825561163876,
        -0.19522518962984395,
        -0.263648209302212,
        -0.1483632765253004,
        0.42301494576181253,
        -0.33091001964624017,
        -0.1274182063688857,
        1.0500592242098015,
        0.6678742303729708,
        -2.976902010355657,
        0.4403936011145609,
        -0.533632141974961,
        0.3926479161261545,
        1.5728443646973573,
        0.915973025272112,
        0.45304815727264336
      ],
      "qvel": [
        -0.002345557578948266,
        0.0025929506042389446,
        -0.0008008370373785761,
        0.004900141150117756,
        0.011391123363110637,
        0.007584842301081227,
        -0.00045899618459842366,
        0.0325060123745197,
        -0.05479323590715652,
        0.0037363338764425593,
        0.0009429405014686281,
        -0.00024202451860714152,
        0.022086432914207366,
        0.00010932679760999455,
        -8.527737905778827e-05,
        -2.5661570115199454e-06,
        2.659271701229431e-05,
        1.1739114335059155e-05,
        -0.0017241646043862358,
        -0.0025324275022864913
      ],
      "target_rad": [
        -0.9241241216659546,
        -0.4300096929073334,
        0.13161718845367432,
        -0.23369333148002625,
        -0.15733909606933594,
        1.5370784997940063,
        0.7043595314025879,
        -4.720897197723389,
        1.1382036209106445,
        -4.010889053344727,
        2.078138828277588,
        2.0175399780273438,
        0.884607195854187,
        0.44625139236450195
      ],
      "policy_call": 215,
      "body_poses": [
        [
          -0.6599852152729422,
          -0.9306706461700791,
          1.3106506076498239,
          0.7981870466580131,
          0.43438607577007826,
          -0.36890825561163876,
          -0.19522518962984395
        ],
        [
          -0.6524378641487084,
          -0.9221546773587057,
          1.3260702628408858,
          -0.028763269937953487,
          -0.640312253945414,
          -0.5149909257122821,
          -0.5691724151641808
        ],
        [
          -0.6326146783331518,
          -0.9230077301737475,
          1.331970568342863,
          -0.5286236293175174,
          -0.4340806134412228,
          0.006157747508896978,
          -0.7294471616966398
        ],
        [
          -0.6458164307129046,
          -0.8952048180467296,
          1.3364384326381396,
          -0.76423400962472,
          0.37596580677257563,
          -0.1968646994233242,
          -0.485633998801292
        ],
        [
          -0.667494134903273,
          -0.8764072955741947,
          1.305507361296535,
          -0.058201518201895244,
          -0.048748382451268835,
          -0.9041667973704822,
          0.42037909203501533
        ],
        [
          -0.6634073079424426,
          -0.829538911928227,
          1.2904523800674994,
          -0.1062141809927008,
          0.08484730382825312,
          -0.41582079406189576,
          -0.8992288640912611
        ],
        [
          -0.6677645999942697,
          -0.9569963041409884,
          1.345057650068583,
          0.2352124501807157,
          0.782033982864808,
          0.5542241177815028,
          -0.16103906418600614
        ],
        [
          -0.7148946487033101,
          -0.9432452310860584,
          1.3355884104728462,
          -0.5571784450739858,
          0.16943613227324625,
          -0.22923759289044035,
          -0.7799318581972499
        ],
        [
          -0.7324651143169569,
          -0.9562899067245689,
          1.326599686246589,
          0.21455172705141665,
          -0.5440821377848666,
          -0.34581944171937634,
          0.7337241290100813
        ],
        [
          -0.7405394523208769,
          -0.9726345929837805,
          1.3406821681615921,
          -0.28793301453590747,
          0.04431139613061949,
          -0.4159645008719612,
          0.8614549398126173
        ],
        [
          -0.6521282967135784,
          -0.9412783877344801,
          1.2967583562248601,
          -0.10510215500634915,
          -0.5651782679052814,
          -0.5964804788140479,
          -0.5601232907979917
        ],
        [
          -0.6334646022528791,
          -0.938805289853642,
          1.3053636043880135,
          0.8945849224546407,
          0.03824463169325057,
          0.32408839154922,
          -0.30532258207756474
        ],
        [
          -0.6286725231262156,
          -0.9469153174256235,
          1.2757238771553703,
          0.40359514277813324,
          0.24382100918915123,
          0.8614829387745765,
          -0.18843943961973886
        ],
        [
          -0.5983976219201514,
          -0.9217426835700055,
          1.2908820348977892,
          0.16220473751658745,
          0.2786852870374408,
          -0.3474665055327811,
          -0.8805061961445085
        ],
        [
          -0.5494408632337051,
          -0.9151701744488769,
          1.2910767212346033,
          0.052046223844841484,
          -0.6043982101229292,
          0.6605333768416978,
          -0.4423682315241405
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6688554562104233,
            -0.8404903140313957,
            1.2501099485386475
          ],
          "distance_m": -0.0003220149088030806,
          "contact_frame": [
            -0.14327057430917955,
            0.1480091316787969,
            0.9785534423202479,
            0.021441510214142867,
            0.9889859943091655,
            -0.14644782244898094,
            -0.9894512641746712,
            0.0,
            -0.14486613069708645
          ],
          "force_torque_contact_frame": [
            1.368518785006153,
            -0.39824806464787965,
            0.1426050008324649,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7612557753433897,
            -0.9469262807931742,
            1.2553520525128035
          ],
          "distance_m": -0.0002730944375206683,
          "contact_frame": [
            -0.08625440998185245,
            0.14930246231518557,
            0.985022310156123,
            0.013023974058910684,
            0.9887915729548986,
            -0.14873332294106198,
            -0.9961880107983611,
            -1.734723475976807e-18,
            -0.08723214511637706
          ],
          "force_torque_contact_frame": [
            2.441245341281708,
            -0.029244412196687386,
            -0.5547629677285038,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6339227539972676,
            -0.9430805332673893,
            1.2707470348178682
          ],
          "distance_m": -0.00030824004649975564,
          "contact_frame": [
            -0.14329285065095385,
            0.14798839656232743,
            0.9785533166032573,
            0.021441772478186263,
            0.9889890972517905,
            -0.14642682783589345,
            -0.9894480326653429,
            0.0,
            -0.1448882005364235
          ],
          "force_torque_contact_frame": [
            3.3080815201556426,
            -0.6510681021937491,
            -0.4972812822915895,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 130,
      "physics_step": 867,
      "sim_time_s": 4.33499999999993,
      "qpos": [
        -0.6600673289881099,
        -0.9305832422589527,
        1.310623913218007,
        0.7982355929173183,
        0.4344768928208108,
        -0.3688079301767572,
        -0.19501404678496137,
        -0.2636679408314773,
        -0.1472279581922575,
        0.4211228051834877,
        -0.3307594935211169,
        -0.12738514315894858,
        1.0500514647046377,
        0.6686085569046905,
        -2.976896371457689,
        0.44039044733595933,
        -0.5336324531396264,
        0.3926490709318118,
        1.5728446215247396,
        0.9159155833108741,
        0.45296071501339413
      ],
      "qvel": [
        -0.002343017776682685,
        0.0023881422975639698,
        -0.0007284411959325495,
        0.007805368454984778,
        0.01223757257050548,
        0.00388450675292606,
        -0.0005738484542216576,
        0.031808251667300176,
        -0.05339830776831866,
        0.004652197067055062,
        0.0009264274618240269,
        -0.0002145582935706572,
        0.020299982373058,
        0.0001780139994245297,
        -9.5835547641304e-05,
        -9.06891411399087e-06,
        3.842221928169558e-05,
        3.292349516638407e-06,
        -0.0015401188830801505,
        -0.00246096810615824
      ],
      "target_rad": [
        -0.9242756366729736,
        -0.4301876723766327,
        0.13216370344161987,
        -0.23391085863113403,
        -0.15761160850524902,
        1.5373948812484741,
        0.7040808200836182,
        -4.720663070678711,
        1.138334035873413,
        -4.010942459106445,
        2.078263998031616,
        2.0175116062164307,
        0.8851428031921387,
        0.44639939069747925
      ],
      "policy_call": 216,
      "body_poses": [
        [
          -0.6600673289881099,
          -0.9305832422589527,
          1.310623913218007,
          0.7982355929173183,
          0.4344768928208108,
          -0.3688079301767572,
          -0.19501404678496137
        ],
        [
          -0.652524677022648,
          -0.9220632111580725,
          1.3260436237006312,
          -0.028634016134430555,
          -0.6401690593332933,
          -0.5151641638505496,
          -0.569183233130161
        ],
        [
          -0.6327012520169416,
          -0.9229058435824219,
          1.3319446229075933,
          -0.5280269104416617,
          -0.4340587702438333,
          0.0062903439847325215,
          -0.7298910859822838
        ],
        [
          -0.6459395640909945,
          -0.8951221746126818,
          1.3364240014370197,
          -0.7645799428283183,
          0.3761479142901731,
          -0.19589703540858538,
          -0.48533968426033836
        ],
        [
          -0.6675552156107071,
          -0.8763000095249469,
          1.305464502164609,
          -0.0591265211952777,
          -0.04925697032993484,
          -0.9042736582291864,
          0.41996066053627484
        ],
        [
          -0.6634325071669539,
          -0.8294197074709584,
          1.290456485826178,
          -0.10671367354582728,
          0.08573692404664376,
          -0.4153457376231757,
          -0.8993048926652374
        ],
        [
          -0.6678340704770809,
          -0.9569123907532124,
          1.3450311410700255,
          0.23526464903360067,
          0.7818906494491937,
          0.5544228164530809,
          -0.16097483596900375
        ],
        [
          -0.7149710409084249,
          -0.9431858022020795,
          1.3355608303410944,
          -0.556691451461129,
          0.16942233634509662,
          -0.2292562427667345,
          -0.7802770501366485
        ],
        [
          -0.7325301702826427,
          -0.9562505393792008,
          1.3265790929967816,
          0.2141950287392762,
          -0.5437491938101905,
          -0.34607715285643453,
          0.7339536144504855
        ],
        [
          -0.7405806248669871,
          -0.972603993571659,
          1.3406650688934163,
          -0.2883396404654738,
          0.044715435444188156,
          -0.4159829916999014,
          0.8612891106856494
        ],
        [
          -0.652204681102469,
          -0.9411871657393655,
          1.296731988403642,
          -0.10497009383069848,
          -0.5650188546101428,
          -0.5966273830277586,
          -0.5601524249324147
        ],
        [
          -0.6335424498110186,
          -0.9387044234017236,
          1.3053376326973187,
          0.8946669816993016,
          0.038159369778238056,
          0.3240856444360154,
          -0.3050956398011635
        ],
        [
          -0.6287455318441395,
          -0.9468123972907201,
          1.2756981263344527,
          0.4036550314933338,
          0.24360041566663782,
          0.8615392156736597,
          -0.18833914328564766
        ],
        [
          -0.5984838557460926,
          -0.9216240940882606,
          1.290856662738996,
          0.16240219239868986,
          0.27879332685940483,
          -0.3473950175839042,
          -0.8804638042308397
        ],
        [
          -0.5495302442331303,
          -0.9150282669879879,
          1.2910541081777065,
          0.05215639014300225,
          -0.6045720177596247,
          0.6603663059231591,
          -0.4423671871993976
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6683922355383262,
            -0.8403280898084051,
            1.2501638542605267
          ],
          "distance_m": -0.0003012577532738095,
          "contact_frame": [
            -0.14507978598249197,
            0.1463467347953044,
            0.9785369123921831,
            0.021463037844550805,
            0.9892333562990853,
            -0.14476430772718302,
            -0.9891871378590391,
            0.0,
            -0.14665880912595158
          ],
          "force_torque_contact_frame": [
            1.3419096420535668,
            -0.383161639803843,
            0.14251590753702004,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7613553863061955,
            -0.9469203275413809,
            1.255342649490511
          ],
          "distance_m": -0.0002731841064896894,
          "contact_frame": [
            -0.08624822387884835,
            0.14930412916910635,
            0.9850225991777036,
            0.013023188696794424,
            0.9887913212670583,
            -0.14873506494136776,
            -0.9961885566668149,
            -1.734723475976807e-18,
            -0.08722591109348335
          ],
          "force_torque_contact_frame": [
            2.4530642253395216,
            -0.02112264383015905,
            -0.5488380379480926,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6339975891148376,
            -0.9429803819666212,
            1.2707210226947856
          ],
          "distance_m": -0.00030805951028322004,
          "contact_frame": [
            -0.143292956394467,
            0.14798829813373382,
            0.9785533160044038,
            0.02144177372075255,
            0.9889891119802487,
            -0.14642672817565422,
            -0.9894480173245289,
            -6.938893903907228e-18,
            -0.1448883052994912
          ],
          "force_torque_contact_frame": [
            3.3121916372690503,
            -0.6450450777562491,
            -0.5019790603064751,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 131,
      "physics_step": 873,
      "sim_time_s": 4.364999999999929,
      "qpos": [
        -0.6601379364301524,
        -0.9305079479126009,
        1.3106008167657162,
        0.7982837994946602,
        0.43454687129270486,
        -0.368719308469904,
        -0.19482829280052433,
        -0.2636926923496442,
        -0.14627164319130584,
        0.419534179646028,
        -0.330578593538703,
        -0.12736490550914417,
        1.0500451301321048,
        0.6691963161449558,
        -2.9768930791185957,
        0.4403877824237386,
        -0.5336327364858514,
        0.39265025624766686,
        1.5728448845269738,
        0.9158728828336224,
        0.4528880993836821
      ],
      "qvel": [
        -0.0023578373244321294,
        0.002539967499838223,
        -0.000776358563939557,
        0.005196935856004292,
        0.01226179350022164,
        0.006759690659193825,
        -0.0009253035133318729,
        0.03192584422541917,
        -0.05254084497923118,
        0.00672685584443743,
        0.0005502793182663918,
        -0.00020161630261752146,
        0.019020913671392935,
        0.00011085433028913187,
        -9.317491128742462e-05,
        -1.1105165497682381e-05,
        4.03550343802829e-05,
        8.65571980730834e-06,
        -0.0013170645539936523,
        -0.0023879638230884723
      ],
      "target_rad": [
        -0.9245344400405884,
        -0.4303096532821655,
        0.13320833444595337,
        -0.23451966047286987,
        -0.15804654359817505,
        1.537977933883667,
        0.7034827470779419,
        -4.720101833343506,
        1.138452410697937,
        -4.0108489990234375,
        2.0784339904785156,
        2.0175724029541016,
        0.8860902190208435,
        0.44660359621047974
      ],
      "policy_call": 218,
      "body_poses": [
        [
          -0.6601379364301524,
          -0.9305079479126009,
          1.3106008167657162,
          0.7982837994946602,
          0.43454687129270486,
          -0.368719308469904,
          -0.19482829280052433
        ],
        [
          -0.652599247901563,
          -0.9219840659181627,
          1.3260203372191481,
          -0.028528153220210857,
          -0.6400445182985971,
          -0.5153232993055082,
          -0.5691845537807987
        ],
        [
          -0.6327755927443892,
          -0.9228174219411079,
          1.3319218805722446,
          -0.5275236530895443,
          -0.4340343866363125,
          0.006387563182232742,
          -0.7302685435405906
        ],
        [
          -0.6460451466191188,
          -0.8950501090115883,
          1.336410229114836,
          -0.7648602757432301,
          0.3763106158976398,
          -0.1950873402429639,
          -0.48509793715254573
        ],
        [
          -0.6676091103782961,
          -0.8762083803620915,
          1.3054265945168484,
          -0.05991799839183193,
          -0.049698407260728966,
          -0.9043568534353084,
          0.4196171867655701
        ],
        [
          -0.6634550553648473,
          -0.8293184572282445,
          1.2904573281538245,
          -0.10715041024561739,
          0.08650073559949027,
          -0.4149534584758657,
          -0.8993609062127734
        ],
        [
          -0.667893389208842,
          -0.9568394197609142,
          1.345008812998409,
          0.23531585485116546,
          0.7817628993329373,
          0.5545948522051019,
          -0.16092783348391496
        ],
        [
          -0.7150364442409016,
          -0.9431343199245876,
          1.3355376673063333,
          -0.556284959748737,
          0.169418756484655,
          -0.2292784422603979,
          -0.7805611599504455
        ],
        [
          -0.7325860749995641,
          -0.9562159270946259,
          1.3265619221175808,
          0.2138920680403082,
          -0.5434760155912938,
          -0.34628468023629333,
          0.7341463913553621
        ],
        [
          -0.7406167242254809,
          -0.9725763750316727,
          1.3406510816492727,
          -0.2886783292332506,
          0.045052253735674064,
          -0.4159890445495114,
          0.8611551727065339
        ],
        [
          -0.6522704192577167,
          -0.9411088326263536,
          1.2967093295585395,
          -0.10485851844776188,
          -0.5648813320158307,
          -0.596761400352954,
          -0.5601692627213164
        ],
        [
          -0.633609394127996,
          -0.9386175205055015,
          1.3053151127898572,
          0.8947374252803278,
          0.03807471614215488,
          0.32408378972182755,
          -0.3049015464587916
        ],
        [
          -0.628808508580716,
          -0.9467243125027957,
          1.2756759255291625,
          0.4037060995837565,
          0.24340347486186037,
          0.8615878851566412,
          -0.18826165232290032
        ],
        [
          -0.5985582266877096,
          -0.9215220645517072,
          1.2908340265980798,
          0.1625815602797601,
          0.2788808087469091,
          -0.34734213549344745,
          -0.8804238591045341
        ],
        [
          -0.5496073906043155,
          -0.9149057205296833,
          1.291033120844385,
          0.05224254012060074,
          -0.6047268808477442,
          0.6602153701661905,
          -0.44237063824153816
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6683473200921647,
            -0.8401993110490846,
            1.2501492175785953
          ],
          "distance_m": -0.0003046608703613414,
          "contact_frame": [
            -0.14512861021602366,
            0.14629977080521356,
            0.9785366950498625,
            0.021463220157610093,
            0.9892403029913116,
            -0.144716803164401,
            -0.9891799718338578,
            -3.469446951953614e-18,
            -0.14670713453260742
          ],
          "force_torque_contact_frame": [
            1.3528286133336445,
            -0.38271165577968785,
            0.13716634244975656,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7614396196729135,
            -0.9469149192377402,
            1.25533455876072
          ],
          "distance_m": -0.00027342297854154705,
          "contact_frame": [
            -0.08624304430345955,
            0.1493055229772884,
            0.9850228414192993,
            0.013022530939207693,
            0.9887911108057548,
            -0.1487365216732561,
            -0.996189013690278,
            0.0,
            -0.087220691368454
          ],
          "force_torque_contact_frame": [
            2.4510925375116432,
            -0.030395436956031974,
            -0.5409398934842655,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6340622061711431,
            -0.9428948024185861,
            1.2706986274684697
          ],
          "distance_m": -0.00030804155396380587,
          "contact_frame": [
            -0.14329302842670683,
            0.14798823108550582,
            0.9785533155962869,
            0.021441774567337656,
            0.9889891220130699,
            -0.14642666028842066,
            -0.9894480068743918,
            -3.469446951953614e-18,
            -0.14488837666387713
          ],
          "force_torque_contact_frame": [
            3.3078969283669686,
            -0.6471600705914425,
            -0.5058658365271571,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 132,
      "physics_step": 880,
      "sim_time_s": 4.399999999999928,
      "qpos": [
        -0.6602207424478018,
        -0.930417981933374,
        1.3105734839123753,
        0.7983538032156597,
        0.4346066778878081,
        -0.3686167342877989,
        -0.19460201342589833,
        -0.26373240543744236,
        -0.1451412007278324,
        0.41771382084834824,
        -0.3303078369801979,
        -0.127350906621302,
        1.0500385271734736,
        0.6698291434302317,
        -2.9768893622111623,
        0.44038444953424505,
        -0.5336332137806806,
        0.3926518005771427,
        1.5728452813769938,
        0.9158305869684584,
        0.45280603395782426
      ],
      "qvel": [
        -0.00236917929652946,
        0.0025445241673841966,
        -0.0007700307548184397,
        0.004914292635593649,
        0.012659337000832705,
        0.006851264144570864,
        -0.0012725287328236186,
        0.03250487080148193,
        -0.05163028206986802,
        0.008228575317612159,
        0.0003469705436624495,
        -0.00018195413719482873,
        0.01739830192812329,
        0.00010863389397537816,
        -9.633045734652043e-05,
        -1.4027843047801192e-05,
        4.690784346032008e-05,
        1.3374534757548409e-05,
        -0.0011554227418771477,
        -0.0023191133099716658
      ],
      "target_rad": [
        -0.9250627756118774,
        -0.43046653270721436,
        0.13408994674682617,
        -0.23514577746391296,
        -0.1582741141319275,
        1.5385977029800415,
        0.702865719795227,
        -4.7199811935424805,
        1.1387180089950562,
        -4.011175155639648,
        2.0788111686706543,
        2.0177383422851562,
        0.8867970108985901,
        0.44683897495269775
      ],
      "policy_call": 220,
      "body_poses": [
        [
          -0.6602207424478018,
          -0.930417981933374,
          1.3105734839123753,
          0.7983538032156597,
          0.4346066778878081,
          -0.3686167342877989,
          -0.19460201342589833
        ],
        [
          -0.6526865735567636,
          -0.9218887449834854,
          1.3259922522216134,
          -0.02842165529615269,
          -0.6398971949498065,
          -0.5155291637082148,
          -0.5691691056021095
        ],
        [
          -0.6328626309565878,
          -0.9227107589944168,
          1.3318944207002972,
          -0.5269415618868492,
          -0.4339905682413134,
          0.006478900997517856,
          -0.7307138980994509
        ],
        [
          -0.6461691005012207,
          -0.8949625619904119,
          1.336391690014525,
          -0.7651653413582264,
          0.3765184265058945,
          -0.19415697884077554,
          -0.48482877642843913
        ],
        [
          -0.6676741165312221,
          -0.8761004303681768,
          1.3053795123962915,
          -0.06085266051901922,
          -0.05021717747583784,
          -0.9044419147492604,
          0.4192374167924531
        ],
        [
          -0.66348318541954,
          -0.8292000490753465,
          1.290453349761365,
          -0.1076672467521535,
          0.0874064334105827,
          -0.41451558876536043,
          -0.8994135345022105
        ],
        [
          -0.6679626126073731,
          -0.9567503226676136,
          1.3449838739150801,
          0.2353946290915433,
          0.7816058605999768,
          0.5547934133939493,
          -0.16089100573156745
        ],
        [
          -0.7151128788023056,
          -0.943070958962659,
          1.3355114187753294,
          -0.5558243735202836,
          0.16943270345309958,
          -0.2293231478308165,
          -0.7808730490100961
        ],
        [
          -0.7326517624187984,
          -0.9561719977113756,
          1.32654301129118,
          0.21353555363480684,
          -0.5431774486992038,
          -0.3464979362421199,
          0.734370483297397
        ],
        [
          -0.7406602551388256,
          -0.9725394941448702,
          1.3406365951098123,
          -0.2890585529069648,
          0.04543572478135999,
          -0.4159708379741185,
          0.8610162657348779
        ],
        [
          -0.6523476309828158,
          -0.9410160414168991,
          1.2966830105207456,
          -0.10473992102352095,
          -0.5647193579880184,
          -0.5969344900840646,
          -0.5601703403480635
        ],
        [
          -0.6336879505868107,
          -0.938514192224143,
          1.3052886527475438,
          0.8948197496701005,
          0.03794968892813855,
          0.324077403837804,
          -0.304682249289888
        ],
        [
          -0.6288826682196964,
          -0.9466211908436475,
          1.2756502345246417,
          0.4037687962522706,
          0.2431602268550901,
          0.8616417828971261,
          -0.1881948490651003
        ],
        [
          -0.598645652751246,
          -0.9214017401396514,
          1.2908061932920507,
          0.1628049558021827,
          0.2789739239893265,
          -0.3473040336299608,
          -0.8803681072850189
        ],
        [
          -0.5496981193877764,
          -0.9147610340935889,
          1.2910061953965584,
          0.0523235371711336,
          -0.6049137957927325,
          0.6600248159107243,
          -0.4423898614339443
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6682958170487375,
            -0.8400503602776077,
            1.250129923014154
          ],
          "distance_m": -0.00031309759275074847,
          "contact_frame": [
            -0.14518644329745956,
            0.14624416456603523,
            0.9785364280459956,
            0.021463433675673955,
            0.9892485250584822,
            -0.14466055676813752,
            -0.9891714804307105,
            -3.469446951953614e-18,
            -0.14676437681711627
          ],
          "force_torque_contact_frame": [
            1.3587473216911616,
            -0.3820549064806328,
            0.13147826214880387,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7615365533802467,
            -0.9469077624965676,
            1.255325136576138
          ],
          "distance_m": -0.00027363968163962246,
          "contact_frame": [
            -0.08623688568750665,
            0.14930717498359966,
            0.9850231302082896,
            0.013021748364204822,
            0.9887908613546227,
            -0.1487382485143703,
            -0.9961895570705706,
            0.0,
            -0.08721448494109657
          ],
          "force_torque_contact_frame": [
            2.4501598287160906,
            -0.038251244491487535,
            -0.5321841429329308,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6341383267388105,
            -0.9427949151167065,
            1.270672469554097
          ],
          "distance_m": -0.0003078560843237341,
          "contact_frame": [
            -0.14329306807456424,
            0.14798819417985112,
            0.978553315371812,
            0.021441775033148196,
            0.9889891275354783,
            -0.14642662292097425,
            -0.989448001122447,
            0.0,
            -0.14488841594411142
          ],
          "force_torque_contact_frame": [
            3.3043591126497454,
            -0.6466412360880868,
            -0.5097854557442344,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 133,
      "physics_step": 887,
      "sim_time_s": 4.434999999999928,
      "qpos": [
        -0.6603035573072445,
        -0.9303320174828492,
        1.3105475522544905,
        0.7984089289849859,
        0.4347020317446993,
        -0.3684969144237161,
        -0.1943896853597931,
        -0.26377886281089685,
        -0.14402148339958856,
        0.41593183280859847,
        -0.33001094033496037,
        -0.12734276370906458,
        1.0500324644714947,
        0.6704117469015549,
        -2.9768849359062957,
        0.44038088608906933,
        -0.5336335709326074,
        0.392653752122348,
        1.5728456508501791,
        0.915796876302923,
        0.45272729286726093
      ],
      "qvel": [
        -0.0023561375858648075,
        0.0022845138564472544,
        -0.0006838301329773174,
        0.00869683814434357,
        0.013336057440614668,
        0.0022086588595980664,
        -0.0012190445934737925,
        0.031242376100596166,
        -0.05024322738445092,
        0.008170503131289296,
        0.0002530926572071962,
        -0.00016420177386190088,
        0.0161890384719402,
        0.0001833846854796083,
        -0.00011464237286509141,
        -5.759592516279242e-06,
        5.5082645958727756e-05,
        4.3045026714399355e-06,
        -0.0008232451291998201,
        -0.002206770512731374
      ],
      "target_rad": [
        -0.925244927406311,
        -0.43060463666915894,
        0.13462531566619873,
        -0.2354784458875656,
        -0.15856218338012695,
        1.5389717817306519,
        0.7025817632675171,
        -4.7198872566223145,
        1.1387386322021484,
        -4.011274814605713,
        2.0789847373962402,
        2.0177762508392334,
        0.8874011635780334,
        0.4469924569129944
      ],
      "policy_call": 221,
      "body_poses": [
        [
          -0.6603035573072445,
          -0.9303320174828492,
          1.3105475522544905,
          0.7984089289849859,
          0.4347020317446993,
          -0.3684969144237161,
          -0.1943896853597931
        ],
        [
          -0.6527737934276823,
          -0.9217986656702587,
          1.3259661956046882,
          -0.028281771854539263,
          -0.6397501558234273,
          -0.5157168852976719,
          -0.5691713043746468
        ],
        [
          -0.6329494910819317,
          -0.9226095118364966,
          1.3318687005813032,
          -0.5263396859855048,
          -0.4339723877106795,
          0.006591392939420088,
          -0.7311573395654934
        ],
        [
          -0.6462930292008792,
          -0.8948809390202781,
          1.3363771637389505,
          -0.7654712230413371,
          0.3766890231356227,
          -0.19322000858028066,
          -0.48458767506919354
        ],
        [
          -0.6677411141419134,
          -0.8759967597551985,
          1.3053389886918167,
          -0.06177643815913793,
          -0.05072543774278637,
          -0.9045431654151,
          0.4188224726002696
        ],
        [
          -0.6635145447058061,
          -0.8290847423936982,
          1.2904595149821705,
          -0.1081772576032943,
          0.08830024926009836,
          -0.41404306279327746,
          -0.8994826785829713
        ],
        [
          -0.6680309865090965,
          -0.9566683042107229,
          1.3449581683717238,
          0.23543648674838819,
          0.7814542803914858,
          0.5550055770004377,
          -0.16083431805374407
        ],
        [
          -0.715188761567025,
          -0.9430144571901241,
          1.3354862776880267,
          -0.5553839425152987,
          0.16942407018511257,
          -0.2293327311967198,
          -0.7811854192443222
        ],
        [
          -0.7327171459967154,
          -0.9561336201670175,
          1.3265238399794177,
          0.21321090892599337,
          -0.5428793675958689,
          -0.346736231923852,
          0.7345727234419411
        ],
        [
          -0.7407041363558148,
          -0.9725091243797717,
          1.3406203234693426,
          -0.2894306650239201,
          0.04579504075810677,
          -0.41598844437398264,
          0.8608637049690788
        ],
        [
          -0.6524249206448361,
          -0.9409259412378513,
          1.2966570568056248,
          -0.1045886927266618,
          -0.5645621625468521,
          -0.5970877090324781,
          -0.5601937501405179
        ],
        [
          -0.6337664947200081,
          -0.9384140582408118,
          1.305262496121365,
          0.8949000009622137,
          0.03785915644042201,
          0.3240911335476384,
          -0.30444311407429925
        ],
        [
          -0.6289571466084857,
          -0.9465186180446018,
          1.2756240703681474,
          0.40381576118655604,
          0.24292734397917987,
          0.8617084314046115,
          -0.188089648334904
        ],
        [
          -0.5987335202020341,
          -0.9212828842281878,
          1.290779631393736,
          0.1630284718863876,
          0.2790684101035196,
          -0.34722572957043274,
          -0.8803276847634433
        ],
        [
          -0.549789421828428,
          -0.914616923589717,
          1.2909801386532997,
          0.05242775222643697,
          -0.6051078317382692,
          0.6598481849452837,
          -0.4423756498609624
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6686152966596519,
            -0.839885992837962,
            1.2500464997779293
          ],
          "distance_m": -0.0003361565700145258,
          "contact_frame": [
            -0.1432930818150429,
            0.14800163509323147,
            0.9785512805743384,
            0.02144376813285432,
            0.9889871162000697,
            -0.14643991531865358,
            -0.9894479559391753,
            0.0,
            -0.14488872450190252
          ],
          "force_torque_contact_frame": [
            1.3596596151390452,
            -0.3835408732191145,
            0.12532780460345677,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7616320056834481,
            -0.9468992224344548,
            1.2553157582118206
          ],
          "distance_m": -0.0002736056397625277,
          "contact_frame": [
            -0.0862318349755366,
            0.14930853712011966,
            0.9850233659055007,
            0.013021107207610844,
            0.9887906556713862,
            -0.14873967199116064,
            -0.9961900026620624,
            0.0,
            -0.08720939511406024
          ],
          "force_torque_contact_frame": [
            2.446226283987957,
            -0.046336865971745245,
            -0.5253429259530038,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6342148928749826,
            -0.9426951994380943,
            1.2706462594555195
          ],
          "distance_m": -0.0003076958443350321,
          "contact_frame": [
            -0.1432931653320091,
            0.1479881036511729,
            0.9785533148208448,
            0.021441776176088403,
            0.9889891410818066,
            -0.1464265312594846,
            -0.9894479870127323,
            0.0,
            -0.1448885122998092
          ],
          "force_torque_contact_frame": [
            3.306164835444344,
            -0.643076727814282,
            -0.5085974115898515,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 134,
      "physics_step": 893,
      "sim_time_s": 4.464999999999927,
      "qpos": [
        -0.6603739301146704,
        -0.9302641825850423,
        1.3105269395914936,
        0.7984308490248794,
        0.4348346783239261,
        -0.3683771319290967,
        -0.19422994239826177,
        -0.263813490693758,
        -0.1431246391102301,
        0.4144445405361297,
        -0.3297667416590903,
        -0.12734179048515673,
        1.0500272685539047,
        0.6708956226166998,
        -2.976880656133007,
        0.44037745120618155,
        -0.533633369181344,
        0.3926553382118822,
        1.572845824853822,
        0.9157795005947905,
        0.4526632282750447
      ],
      "qvel": [
        -0.0023401970991717208,
        0.0023020793799858877,
        -0.000702382255273521,
        0.008048866526658389,
        0.01306929426259171,
        0.002837665939296772,
        -0.0011219792866058623,
        0.0292967291208351,
        -0.04916965952874626,
        0.008158015275764931,
        -0.0001324269249711345,
        -0.00017411025246813602,
        0.016080459259003133,
        0.0001307356541641897,
        -0.00011603371050788039,
        1.2936274076082779e-05,
        4.628014161029636e-05,
        9.101955620110897e-06,
        -0.00041824923888701215,
        -0.0020938542363508395
      ],
      "target_rad": [
        -0.9252539873123169,
        -0.4308890700340271,
        0.13583147525787354,
        -0.23626217246055603,
        -0.1595478057861328,
        1.5396649837493896,
        0.7021265625953674,
        -4.719150066375732,
        1.138368844985962,
        -4.010810852050781,
        2.0790812969207764,
        2.017756700515747,
        0.8890278339385986,
        0.4472925662994385
      ],
      "policy_call": 223,
      "body_poses": [
        [
          -0.6603739301146704,
          -0.9302641825850423,
          1.3105269395914936,
          0.7984308490248794,
          0.4348346783239261,
          -0.3683771319290967,
          -0.19422994239826177
        ],
        [
          -0.6528478771743086,
          -0.9217292013958513,
          1.325946492867741,
          -0.028115879119241273,
          -0.63962772271176,
          -0.5158424832613049,
          -0.5692033082675569
        ],
        [
          -0.6330232021086134,
          -0.9225311415722836,
          1.3318489627315375,
          -0.525816378791129,
          -0.4339953082673414,
          0.006717786210488144,
          -0.7315190219983008
        ],
        [
          -0.6463973720716242,
          -0.8948193886961955,
          1.3363700610864875,
          -0.7657449537457744,
          0.3767821473694543,
          -0.1924241875373125,
          -0.4843994336156377
        ],
        [
          -0.6677986909767817,
          -0.8759133030136689,
          1.305312946640765,
          -0.06252918658551024,
          -0.0511481926540627,
          -0.9046502129898006,
          0.4184279571810259
        ],
        [
          -0.6635427264154221,
          -0.8289900246582484,
          1.290477424606398,
          -0.10860552939504786,
          0.08902616872766159,
          -0.41360149396176743,
          -0.8995626628862996
        ],
        [
          -0.6680885138519663,
          -0.9566082474066507,
          1.344934483948584,
          0.2354212759413497,
          0.7813365862377737,
          0.5552012513686909,
          -0.16075301651629903
        ],
        [
          -0.7152528869198704,
          -0.9429754080753721,
          1.3354651859345226,
          -0.5550193792554411,
          0.16938098177550526,
          -0.22929193727148056,
          -0.7814657888647225
        ],
        [
          -0.7327723317710573,
          -0.9561088603135787,
          1.3265061975974966,
          0.21296885462956078,
          -0.5426115149579342,
          -0.34698510999406873,
          0.7347233113460014
        ],
        [
          -0.74074098694898,
          -0.9724929389807576,
          1.3406030944504588,
          -0.28974983625915285,
          0.046083439756587394,
          -0.4160576991052881,
          0.8607074648120633
        ],
        [
          -0.6524905990048658,
          -0.9408527486360541,
          1.296635022531687,
          -0.1044188562545238,
          -0.5644343469571834,
          -0.5971858665220062,
          -0.5602495972866705
        ],
        [
          -0.6338331969368375,
          -0.9383332293573492,
          1.3052404493471428,
          0.8949659916520093,
          0.037835866395770724,
          0.32412608202642124,
          -0.3042147332898575
        ],
        [
          -0.6290205619062754,
          -0.946431909321758,
          1.2756009499097924,
          0.40383757908692447,
          0.24274953403415545,
          0.8617799673650098,
          -0.18794456973207715
        ],
        [
          -0.5988084614786597,
          -0.9211839369209993,
          1.2907591081690333,
          0.16321193990856864,
          0.2791551300194842,
          -0.3471028161199048,
          -0.8803146659557132
        ],
        [
          -0.5498674069820542,
          -0.9144956806111131,
          1.2909601362604772,
          0.052552291441971724,
          -0.6052775978903425,
          0.6597204543725574,
          -0.44231912488469405
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6685727251853018,
            -0.8397603224087534,
            1.2500406087978189
          ],
          "distance_m": -0.00032269157151793747,
          "contact_frame": [
            -0.14329370593471014,
            0.1480000726394334,
            0.9785514254949604,
            0.021443630079486006,
            0.9889873500195654,
            -0.14643835641761255,
            -0.989447868545135,
            0.0,
            -0.14488932131626892
          ],
          "force_torque_contact_frame": [
            1.3507244751665557,
            -0.3745840111262267,
            0.11987219770981394,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7617129093791104,
            -0.9468909246385357,
            1.2553076554219844
          ],
          "distance_m": -0.000273564259011719,
          "contact_frame": [
            -0.08622873513351925,
            0.14930938591414478,
            0.9850235086104364,
            0.013020714835793633,
            0.9887905275021301,
            -0.14874055838010009,
            -0.9961902761131722,
            0.0,
            -0.0872062714348095
          ],
          "force_torque_contact_frame": [
            2.4498509062251883,
            -0.04934434816182154,
            -0.52183690725467,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6342801872716607,
            -0.9426103035501938,
            1.2706237741070157
          ],
          "distance_m": -0.0003078624909668281,
          "contact_frame": [
            -0.1432933380327158,
            0.14798794289834483,
            0.9785533138425102,
            0.02144177820550671,
            0.9889891651361586,
            -0.14642636849512325,
            -0.9894479619579939,
            0.0,
            -0.14488868339926447
          ],
          "force_torque_contact_frame": [
            3.309664389647512,
            -0.6397012178959466,
            -0.5057776878428173,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 135,
      "physics_step": 900,
      "sim_time_s": 4.499999999999926,
      "qpos": [
        -0.6604556689909316,
        -0.9301809338375018,
        1.3105017016289464,
        0.7984757822597607,
        0.43494605275219006,
        -0.36825286300743937,
        -0.19403140268208566,
        -0.26385457916708843,
        -0.14209425949463148,
        0.41273557143747436,
        -0.32948633516970677,
        -0.1273508760573913,
        1.05002126849849,
        0.6714495010619679,
        -2.976875701619341,
        0.4403735049647971,
        -0.533632835209507,
        0.39265662104545757,
        1.5728463201262137,
        0.9157684988515408,
        0.45259102904555687
      ],
      "qvel": [
        -0.002332847475343686,
        0.0024217008468628656,
        -0.0007306185465446152,
        0.006022819108079932,
        0.012633655039612616,
        0.0048469560406088266,
        -0.0012462762622267134,
        0.02967748247882713,
        -0.048625714385832824,
        0.00790147818602995,
        -0.0003221016307622486,
        -0.00016945037536784203,
        0.015585983071865738,
        0.0001460326638321,
        -0.00010694116568293084,
        1.518898024935505e-05,
        3.2456490665526597e-05,
        1.6270145224150646e-05,
        -0.00027284690803758315,
        -0.002043688819116225
      ],
      "target_rad": [
        -0.9256857633590698,
        -0.4309116303920746,
        0.1365177035331726,
        -0.2369605004787445,
        -0.159684956073761,
        1.540066123008728,
        0.701608419418335,
        -4.718692779541016,
        1.138511061668396,
        -4.010707378387451,
        2.079289436340332,
        2.0179433822631836,
        0.8893365263938904,
        0.44740569591522217
      ],
      "policy_call": 225,
      "body_poses": [
        [
          -0.6604556689909316,
          -0.9301809338375018,
          1.3105017016289464,
          0.7984757822597607,
          0.43494605275219006,
          -0.36825286300743937,
          -0.19403140268208566
        ],
        [
          -0.6529338537712615,
          -0.9216426340896249,
          1.3259214854541674,
          -0.027961196488299922,
          -0.6394868056984482,
          -0.5160120012361238,
          -0.5692156106510339
        ],
        [
          -0.6331087908764316,
          -0.9224339452759488,
          1.3318240872383333,
          -0.5252400712749793,
          -0.4339936074028845,
          0.00682979653720045,
          -0.7319329000255057
        ],
        [
          -0.6465178876124963,
          -0.8947409831642685,
          1.3363568539656097,
          -0.7660432814356928,
          0.37692605494953485,
          -0.19153398294105362,
          -0.4841685382655025
        ],
        [
          -0.6678651256406265,
          -0.8758125126800805,
          1.3052761635275003,
          -0.06339572238660753,
          -0.05163635775850675,
          -0.9047514404721071,
          0.41801854014405115
        ],
        [
          -0.6635749241497335,
          -0.8288778281730793,
          1.2904866550368235,
          -0.10910323305519701,
          0.08986677511733723,
          -0.4131373624487302,
          -0.8996321287147434
        ],
        [
          -0.6681558932563196,
          -0.9565304449568738,
          1.344908292164523,
          0.23544269001553741,
          0.7811928010259822,
          0.5554136448524721,
          -0.16068674635800134
        ],
        [
          -0.7153276593325921,
          -0.9429222026738798,
          1.3354404398625082,
          -0.5545972077199708,
          0.1693595268533601,
          -0.2292833212444357,
          -0.7817726309179284
        ],
        [
          -0.7328369270817733,
          -0.9560727423443285,
          1.3264866229739716,
          0.2126672975865985,
          -0.5423180968512449,
          -0.34723187821170765,
          0.7349106919336713
        ],
        [
          -0.7407847732935402,
          -0.9724651614801944,
          1.340585571000977,
          -0.2901101250419956,
          0.046424490169443305,
          -0.41609405677395855,
          0.8605501833002045
        ],
        [
          -0.6525670010514445,
          -0.9407647963074207,
          1.2966092298057483,
          -0.10425557365067815,
          -0.5642843411918912,
          -0.5973231473563934,
          -0.5602847626704253
        ],
        [
          -0.6339107858639232,
          -0.9382358470422296,
          1.3052144637067526,
          0.895042568752619,
          0.03776708623747078,
          0.32414935083992996,
          -0.3039731002373357
        ],
        [
          -0.6290943579355706,
          -0.9463307556204704,
          1.275574550125217,
          0.4038751949796311,
          0.2425303246375397,
          0.8618507339191688,
          -0.18782220570093852
        ],
        [
          -0.5988952882772715,
          -0.9210675603642304,
          1.290733311342028,
          0.16343500844206038,
          0.2792448716323735,
          -0.3470081493873306,
          -0.8802821388289915
        ],
        [
          -0.5499577063644641,
          -0.9143539382858042,
          1.2909341971686576,
          0.05266261431136948,
          -0.6054732621332284,
          0.6595527081041719,
          -0.4422883710070757
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6685449033427427,
            -0.8396416527675681,
            1.250029805126223
          ],
          "distance_m": -0.0003166861538825602,
          "contact_frame": [
            -0.14328191993783584,
            0.14799857104881234,
            0.9785533784042837,
            0.02144164390917634,
            0.9889875747285756,
            -0.14643712964601033,
            -0.9894496183866057,
            3.469446951953614e-18,
            -0.14487737116126978
          ],
          "force_torque_contact_frame": [
            1.352377445157365,
            -0.37173441155576525,
            0.11389114286804891,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7618065511426899,
            -0.9468804541217579,
            1.2552980681415564
          ],
          "distance_m": -0.00027366952681271594,
          "contact_frame": [
            -0.08622428620309068,
            0.14931059029956414,
            0.9850237154978367,
            0.013020150457528759,
            0.9887903456367259,
            -0.1487418167754704,
            -0.996190668572453,
            1.734723475976807e-18,
            -0.08720178810763676
          ],
          "force_torque_contact_frame": [
            2.449889702552525,
            -0.056307781355252606,
            -0.5161472843491803,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6343560777917466,
            -0.9425116896753026,
            1.2705976800951657
          ],
          "distance_m": -0.0003079947851887625,
          "contact_frame": [
            -0.1432934637471445,
            0.14798782588070172,
            0.9785533131303829,
            0.021441779682682533,
            0.9889891826461515,
            -0.14642625001322745,
            -0.9894479437198225,
            -3.469446951953614e-18,
            -0.14488880794807757
          ],
          "force_torque_contact_frame": [
            3.308382007632673,
            -0.6378114579479839,
            -0.5053422287072178,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 136,
      "physics_step": 907,
      "sim_time_s": 4.5349999999999255,
      "qpos": [
        -0.6605372449216688,
        -0.9300955510179435,
        1.3104760539287261,
        0.7985315757829554,
        0.4350340378528608,
        -0.36813539089404274,
        -0.19382735193547262,
        -0.2639034040732631,
        -0.14104787465287,
        0.411044717742913,
        -0.3292133280831431,
        -0.1273654633445049,
        1.0500154328014375,
        0.6719779428296984,
        -2.976870456907562,
        0.4403700946479738,
        -0.5336323665621853,
        0.3926579419514915,
        1.5728469184461933,
        0.9157613855173843,
        0.4525208280475222
      ],
      "qvel": [
        -0.002330057994027937,
        0.0024440299277876153,
        -0.0007325930126036792,
        0.005464887805328938,
        0.012587500686903352,
        0.0052492651425485835,
        -0.001507340805869588,
        0.03000405349953264,
        -0.04804726443063808,
        0.007856320993401557,
        -0.0004892377724390932,
        -0.00016301984777632395,
        0.014739279442587645,
        0.00014331746289205133,
        -9.124461240337615e-05,
        1.1401954153747403e-05,
        3.9980923598667585e-05,
        1.5953541443852167e-05,
        -0.00014877009181015323,
        -0.0019779726474797644
      ],
      "target_rad": [
        -0.9259027242660522,
        -0.4309868812561035,
        0.13691335916519165,
        -0.23725548386573792,
        -0.1598082184791565,
        1.54032301902771,
        0.7013455629348755,
        -4.718548774719238,
        1.1386107206344604,
        -4.01076078414917,
        2.079428195953369,
        2.0179965496063232,
        0.8896056413650513,
        0.4474945664405823
      ],
      "policy_call": 226,
      "body_poses": [
        [
          -0.6605372449216688,
          -0.9300955510179435,
          1.3104760539287261,
          0.7985315757829554,
          0.4350340378528608,
          -0.36813539089404274,
          -0.19382735193547262
        ],
        [
          -0.6530195608970247,
          -0.9215531861518794,
          1.3258956009194989,
          -0.027828331883287614,
          -0.6393461118187856,
          -0.5161959600606421,
          -0.5692133730543121
        ],
        [
          -0.6331941386589139,
          -0.9223336648441358,
          1.3317984380417274,
          -0.5246731579932571,
          -0.433975174795425,
          0.006925914392413163,
          -0.7323494088565189
        ],
        [
          -0.6466382618957595,
          -0.8946593540884452,
          1.336341352809801,
          -0.7663280832736735,
          0.37708823980551187,
          -0.19065454441027313,
          -0.483938604455349
        ],
        [
          -0.6679317790262902,
          -0.875710262981547,
          1.3052363860224168,
          -0.06426247376485472,
          -0.052112554721040844,
          -0.9048422988214794,
          0.41763025557247335
        ],
        [
          -0.6636084333624246,
          -0.8287648489609005,
          1.2904906481737761,
          -0.1095908085288723,
          0.09071007250063733,
          -0.4126940496915811,
          -0.8996917020747056
        ],
        [
          -0.6682233250359781,
          -0.9564485824596201,
          1.3448831108874437,
          0.23548378713808504,
          0.7810454064514367,
          0.5556178514030121,
          -0.16063705132539163
        ],
        [
          -0.715402344214132,
          -0.9428649635398795,
          1.3354160391949577,
          -0.5541841472314382,
          0.16935412326686927,
          -0.22929469508892156,
          -0.782063331638783
        ],
        [
          -0.7329017189716907,
          -0.956032506188082,
          1.3264678722702583,
          0.21236051818636908,
          -0.5420403607342191,
          -0.34745164346935387,
          0.7351004102169855
        ],
        [
          -0.7408294427226649,
          -0.9724322389585992,
          1.340569643832153,
          -0.29045839856654815,
          0.046761198043608954,
          -0.4161061281446082,
          0.860408623376234
        ],
        [
          -0.6526433693605833,
          -0.9406755302004578,
          1.2965835822579375,
          -0.104109805411041,
          -0.5641349124210658,
          -0.5974726106428676,
          -0.5603029792322622
        ],
        [
          -0.6339883085103938,
          -0.938136879227892,
          1.3051884620313694,
          0.8951183411787924,
          0.03767577281523035,
          0.32416489080739086,
          -0.30374465426725655
        ],
        [
          -0.6291682116971753,
          -0.9462296494082287,
          1.2755485609262804,
          0.4039177425059125,
          0.24230454475386437,
          0.8619154607660503,
          -0.1877250739059591
        ],
        [
          -0.5989819047343687,
          -0.9209507336213261,
          1.29070653483429,
          0.163663012552238,
          0.27932720751148044,
          -0.3469388378776709,
          -0.8802409739601175
        ],
        [
          -0.5500477554134723,
          -0.9142121174404712,
          1.2909067402471246,
          0.052753653584319986,
          -0.6056678582655037,
          0.6593756132736543,
          -0.44227513848008226
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6684770648540755,
            -0.8394718808090373,
            1.2500142403621766
          ],
          "distance_m": -0.0003163422834450503,
          "contact_frame": [
            -0.143295163856424,
            0.14799656687966464,
            0.9785517422227573,
            0.021443328927419535,
            0.9889878746434826,
            -0.14643485736899375,
            -0.9894476639316863,
            0.0,
            -0.14489071861278385
          ],
          "force_torque_contact_frame": [
            1.352685742000853,
            -0.3695881818486171,
            0.11013496405896145,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7618991886264815,
            -0.9468688155988798,
            1.255288418610646
          ],
          "distance_m": -0.00027371741012140074,
          "contact_frame": [
            -0.0862195485761623,
            0.1493118671246558,
            0.9850239366528472,
            0.013019548934313426,
            0.9887901528310994,
            -0.1487431511357679,
            -0.9961910864833463,
            0.0,
            -0.08719701377415508
          ],
          "force_torque_contact_frame": [
            2.4506820281284014,
            -0.06100628499386751,
            -0.5112731900733323,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6344319808865145,
            -0.9424133586909855,
            1.2705717157473557
          ],
          "distance_m": -0.00030795343686181357,
          "contact_frame": [
            -0.14329354729093097,
            0.14798774811627402,
            0.9785533126571369,
            0.02144178066431047,
            0.9889891942824626,
            -0.14642617127572985,
            -0.9894479315995997,
            0.0,
            -0.14488889071724814
          ],
          "force_torque_contact_frame": [
            3.3071967987107627,
            -0.636536226563533,
            -0.506280767654029,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 137,
      "physics_step": 913,
      "sim_time_s": 4.564999999999925,
      "qpos": [
        -0.6606071165579747,
        -0.9300222176713863,
        1.3104540980854036,
        0.7985816931632248,
        0.43510562191216423,
        -0.36803427563083824,
        -0.19365213421460553,
        -0.26395212913688054,
        -0.14014926691332572,
        0.40961453965470596,
        -0.3289726266382161,
        -0.12738317579988967,
        1.0500106903305901,
        0.6724074612616692,
        -2.976866512412978,
        0.4403674628116327,
        -0.5336320803686164,
        0.39265923308181694,
        1.5728473691650198,
        0.915759699109401,
        0.45246265198763175
      ],
      "qvel": [
        -0.002327828797806536,
        0.002444551543923804,
        -0.0007311769461463466,
        0.005266702587568871,
        0.012636783495121305,
        0.005305759691453938,
        -0.0016985131838325707,
        0.029858889565259446,
        -0.047382920997105414,
        0.008118347957744576,
        -0.0006722035263469602,
        -0.00015458109023727646,
        0.01400757468282616,
        0.00012592620388173414,
        -8.709296041287255e-05,
        8.730439596267109e-06,
        4.658990962170949e-05,
        1.5078042404044418e-05,
        2.7082006440686867e-05,
        -0.00190715956657442
      ],
      "target_rad": [
        -0.9263005256652832,
        -0.4311789870262146,
        0.1377791166305542,
        -0.23787663877010345,
        -0.1601817011833191,
        1.5409114360809326,
        0.7008141875267029,
        -4.718324184417725,
        1.1387131214141846,
        -4.010906219482422,
        2.079733371734619,
        2.0181009769439697,
        0.8903994560241699,
        0.44772017002105713
      ],
      "policy_call": 228,
      "body_poses": [
        [
          -0.6606071165579747,
          -0.9300222176713863,
          1.3104540980854036,
          0.7985816931632248,
          0.43510562191216423,
          -0.36803427563083824,
          -0.19365213421460553
        ],
        [
          -0.6530929110713153,
          -0.921476251833272,
          1.3258733452718925,
          -0.0277183965521762,
          -0.6392248782060629,
          -0.516357845707566,
          -0.5692080645522015
        ],
        [
          -0.6332671857657154,
          -0.9222473395675576,
          1.3317763987032052,
          -0.524188749752608,
          -0.43395577193353424,
          0.00700352581853619,
          -0.7327069627514661
        ],
        [
          -0.6467413890062645,
          -0.8945890314234671,
          1.3363276444270613,
          -0.7665645877836634,
          0.37722936458150813,
          -0.18990634911151805,
          -0.4837481967104673
        ],
        [
          -0.6679895465803395,
          -0.8756229177627713,
          1.305202040549757,
          -0.06500338193411682,
          -0.052513913480709384,
          -0.9049176061694828,
          0.4173020192529165
        ],
        [
          -0.6636384589745125,
          -0.8286684560519095,
          1.2904933165367898,
          -0.11000411455665632,
          0.091432241535193,
          -0.41231851782727913,
          -0.8997403402344326
        ],
        [
          -0.6682809764653663,
          -0.9563779709966345,
          1.344861797849125,
          0.23552113953595927,
          0.780918140573885,
          0.5557921058400516,
          -0.1605982118212769
        ],
        [
          -0.7154662176347505,
          -0.942815478204878,
          1.3353954466481281,
          -0.5538385508502933,
          0.16935295077038032,
          -0.2293067178995715,
          -0.7823048426179786
        ],
        [
          -0.7329572900106814,
          -0.9559972935132955,
          1.3264520625053824,
          0.21210160052920513,
          -0.5418100247534002,
          -0.3476324697952418,
          0.7352594603769007
        ],
        [
          -0.7408682340199669,
          -0.9724030075479805,
          1.3405562998790972,
          -0.2907496959578174,
          0.04704249610604529,
          -0.4161123170162409,
          0.860291902488874
        ],
        [
          -0.6527088397502849,
          -0.940598988241891,
          1.296561684768488,
          -0.10398642373958547,
          -0.5640076579664296,
          -0.5976029045248503,
          -0.5603150488221232
        ],
        [
          -0.634054739504742,
          -0.9380519697510891,
          1.305166174342934,
          0.8951826978482953,
          0.03759345666220078,
          0.32417848799301197,
          -0.3035506175447522
        ],
        [
          -0.6292316088689828,
          -0.9461431523807826,
          1.2755263333426292,
          0.40395359615341303,
          0.24210938463354714,
          0.8619707282290879,
          -0.18764594774017151
        ],
        [
          -0.5990561731575038,
          -0.920850668207815,
          1.2906833188078393,
          0.16386175817669105,
          0.2793946379879905,
          -0.34688347584187634,
          -0.880204416404884
        ],
        [
          -0.5501249872913966,
          -0.91409053927359,
          1.290882583779976,
          0.05282731774686329,
          -0.6058361210362524,
          0.6592215749648719,
          -0.4422655130668158
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6684382446598877,
            -0.8393495307590368,
            1.2500016532611646
          ],
          "distance_m": -0.0003158899615641215,
          "contact_frame": [
            -0.1432957882619135,
            0.14799508018071347,
            0.9785518756349616,
            0.021443202132731924,
            0.9889880971186176,
            -0.1464333733818579,
            -0.9894475762508552,
            0.0,
            -0.14489131737722707
          ],
          "force_torque_contact_frame": [
            1.3521465139336435,
            -0.3661617505685259,
            0.10515717111372191,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7619777785830998,
            -0.9468580665447607,
            1.2552800874727832
          ],
          "distance_m": -0.00027378261455529394,
          "contact_frame": [
            -0.08621560083090729,
            0.1493129303598195,
            0.9850241210248253,
            0.013019047627241325,
            0.9887899922771081,
            -0.1487442623146047,
            -0.9961914347013054,
            0.0,
            -0.08719303543147651
          ],
          "force_torque_contact_frame": [
            2.451558213971097,
            -0.06617499950381689,
            -0.505890544346024,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6344971462487604,
            -0.9423292798697235,
            1.2705494866215497
          ],
          "distance_m": -0.00030789743706272836,
          "contact_frame": [
            -0.14329361061932006,
            0.1479876891699113,
            0.9785533122982254,
            0.02144178140856755,
            0.9889892031029205,
            -0.1464261115917427,
            -0.9894479224121427,
            0.0,
            -0.1448889534584818
          ],
          "force_torque_contact_frame": [
            3.3065436087288536,
            -0.634742836256956,
            -0.5066923521067194,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 138,
      "physics_step": 920,
      "sim_time_s": 4.599999999999924,
      "qpos": [
        -0.6606886548478417,
        -0.9299343277767254,
        1.3104278181053275,
        0.7986531439088599,
        0.43516372348518884,
        -0.36792257179734195,
        -0.193439061849027,
        -0.26401729172869637,
        -0.1391025398151365,
        0.40796972479565746,
        -0.3286742104038931,
        -0.12741247548178342,
        1.0500054731775936,
        0.6728818612108723,
        -2.976863045954725,
        0.4403645458457678,
        -0.5336318336144134,
        0.3926609077409387,
        1.5728479334123173,
        0.9157646361532057,
        0.4523975233212928
      ],
      "qvel": [
        -0.0023281991551834997,
        0.0024839568485983876,
        -0.000732787002848234,
        0.0046016072794272484,
        0.01262784942806337,
        0.005813251031746168,
        -0.0018774359419566808,
        0.030008305751699448,
        -0.04659226677408111,
        0.008628198236774524,
        -0.0008762111044674411,
        -0.00013260607259760922,
        0.013165660181068075,
        0.00014504497454181234,
        -9.248327428492389e-05,
        2.4265135666769088e-06,
        4.1280216570629524e-05,
        7.898814584271118e-06,
        0.0002298679500615809,
        -0.001831629150489076
      ],
      "target_rad": [
        -0.9268002510070801,
        -0.43138837814331055,
        0.1386309266090393,
        -0.238544762134552,
        -0.1605251431465149,
        1.5416020154953003,
        0.7002636194229126,
        -4.7183518409729,
        1.1388275623321533,
        -4.011291027069092,
        2.080165386199951,
        2.018282413482666,
        0.8912375569343567,
        0.4479933977127075
      ],
      "policy_call": 230,
      "body_poses": [
        [
          -0.6606886548478417,
          -0.9299343277767254,
          1.3104278181053275,
          0.7986531439088599,
          0.43516372348518884,
          -0.36792257179734195,
          -0.193439061849027
        ],
        [
          -0.6531784357595564,
          -0.921383267034581,
          1.3258461827861265,
          -0.02761292725144064,
          -0.6390823024171906,
          -0.5165649287956744,
          -0.5691853927536007
        ],
        [
          -0.6333523804683885,
          -0.9221430506850752,
          1.331749593698133,
          -0.5236392976213443,
          -0.43391458202076216,
          0.007070396461105296,
          -0.7331234759508501
        ],
        [
          -0.6468615748236081,
          -0.8945031015687849,
          1.3363086375366795,
          -0.7668227551530528,
          0.37741653629182803,
          -0.18905410352558064,
          -0.4835267999326419
        ],
        [
          -0.6680575235680837,
          -0.8755194518932162,
          1.3051581369592111,
          -0.06586765949079736,
          -0.05297921460114599,
          -0.9049908877407912,
          0.4169486147711563
        ],
        [
          -0.66367419727562,
          -0.8285554349121638,
          1.2904895460378847,
          -0.11048631816472523,
          0.09227830740302366,
          -0.4119094680985311,
          -0.8997822389734211
        ],
        [
          -0.6683483327049222,
          -0.9562911212060436,
          1.3448378811320063,
          0.23558747663684093,
          0.780763883158279,
          0.5559885176455506,
          -0.16057106792257414
        ],
        [
          -0.715540761379034,
          -0.9427535902962246,
          1.3353716288268658,
          -0.5534425221550477,
          0.1693701334158413,
          -0.22934315971619929,
          -0.7825706662460273
        ],
        [
          -0.7330223850495876,
          -0.9559521006609774,
          1.3264343951607556,
          0.21179154788184978,
          -0.5415569950743532,
          -0.3478152176132649,
          0.7354487988490332
        ],
        [
          -0.7409143852945835,
          -0.9723637152725221,
          1.3405423800620488,
          -0.2910786547785299,
          0.04736801338609478,
          -0.4160927217427702,
          0.8601722705091528
        ],
        [
          -0.6527853268617613,
          -0.9405082374525243,
          1.2965360996762603,
          -0.10386053928453634,
          -0.5638580880087479,
          -0.5977705007037875,
          -0.5603101582650357
        ],
        [
          -0.6341323229932958,
          -0.9379510332402897,
          1.3051399449386962,
          0.8952577968340646,
          0.03747083757024075,
          0.32418582229292603,
          -0.30333639109718225
        ],
        [
          -0.6293057474767377,
          -0.9460421845613559,
          1.2755006561637852,
          0.40400149948882835,
          0.24187150196914597,
          0.8620291933606079,
          -0.18758100847375028
        ],
        [
          -0.5991428452883519,
          -0.9207331138279841,
          1.2906549015952495,
          0.16410315398631242,
          0.27946545691468977,
          -0.34684709126748436,
          -0.8801512986540981
        ],
        [
          -0.5502151208799817,
          -0.9139479247484381,
          1.2908523689935445,
          0.05289224973013054,
          -0.606034034874866,
          0.6590287567656213,
          -0.44227396062591845
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6684091708176368,
            -0.8392205082282465,
            1.2499835472325915
          ],
          "distance_m": -0.0003214706851747902,
          "contact_frame": [
            -0.1432950351428954,
            0.1479944000319368,
            0.9785520887835166,
            0.021442988679907182,
            0.9889881988978367,
            -0.14643271723657356,
            -0.9894476899461991,
            0.0,
            -0.14489054096154882
          ],
          "force_torque_contact_frame": [
            1.3579690270095357,
            -0.3653689133943295,
            0.09929377048325627,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7620685825541021,
            -0.9468448574185363,
            1.2552702913847156
          ],
          "distance_m": -0.0002739580061935782,
          "contact_frame": [
            -0.086210647216674,
            0.14931425864679426,
            0.9850243532376449,
            0.013018418054783964,
            0.9887897916972842,
            -0.14874565078210744,
            -0.9961918716280684,
            0.0,
            -0.08718804334406725
          ],
          "force_torque_contact_frame": [
            2.4504901208258643,
            -0.07429802507247307,
            -0.4997683197120473,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.634573334001185,
            -0.9422314196970593,
            1.2705235758666193
          ],
          "distance_m": -0.0003078089682768243,
          "contact_frame": [
            -0.14329363778100554,
            0.14798766388629345,
            0.9785533121444961,
            0.021441781727572388,
            0.9889892068862417,
            -0.14642608599177168,
            -0.9894479184716259,
            -3.469446951953614e-18,
            -0.1448889803683043
          ],
          "force_torque_contact_frame": [
            3.303193295864477,
            -0.6341248953508368,
            -0.5075163740196174,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 139,
      "physics_step": 927,
      "sim_time_s": 4.634999999999923,
      "qpos": [
        -0.660769882312455,
        -0.929850212663613,
        1.3104028531514686,
        0.7987083581995347,
        0.4352555581942987,
        -0.3677979532074874,
        -0.19324136001269926,
        -0.26408581310990553,
        -0.13807351831194506,
        0.4063563187098035,
        -0.32837996414310267,
        -0.12744721912092954,
        1.0500007142283352,
        0.6733289501956886,
        -2.976859044882788,
        0.44036141163388404,
        -0.5336315470203574,
        0.3926629256001445,
        1.5728484794616098,
        0.9157782528944833,
        0.45233577723567653
      ],
      "qvel": [
        -0.002316576579997109,
        0.0023962962911820416,
        -0.0007142953912351408,
        0.005580212408592958,
        0.01275570362316579,
        0.004569737219021183,
        -0.0019991735002803266,
        0.028954540684198685,
        -0.04573171892766893,
        0.008402669108955528,
        -0.0011135804875161178,
        -0.00013718361492714458,
        0.012602878781737098,
        8.99465568317324e-05,
        -8.701547727622376e-05,
        1.1535567580044766e-05,
        5.8654993688871785e-05,
        1.6177519568850076e-05,
        0.0005136994623270169,
        -0.00171858227695642
      ],
      "target_rad": [
        -0.9269481897354126,
        -0.43159550428390503,
        0.13909298181533813,
        -0.2388690859079361,
        -0.1608879566192627,
        1.5419270992279053,
        0.7000624537467957,
        -4.718297481536865,
        1.1387584209442139,
        -4.011337757110596,
        2.08032488822937,
        2.018284797668457,
        0.8919049501419067,
        0.44816070795059204
      ],
      "policy_call": 231,
      "body_poses": [
        [
          -0.660769882312455,
          -0.929850212663613,
          1.3104028531514686,
          0.7987083581995347,
          0.4352555581942987,
          -0.3677979532074874,
          -0.19324136001269926
        ],
        [
          -0.6532635577411445,
          -0.9212953198670311,
          1.3258209885986987,
          -0.02747765258167404,
          -0.6389411815025935,
          -0.5167508405967266,
          -0.5691816177032147
        ],
        [
          -0.6334371314665483,
          -0.9220441550397477,
          1.331724552527556,
          -0.523075936977025,
          -0.4338975102527299,
          0.007160125047043896,
          -0.7335347622038108
        ],
        [
          -0.6469811010659425,
          -0.8944228726570558,
          1.3362935400550375,
          -0.7670861177571624,
          0.3775679786262793,
          -0.1881973044284883,
          -0.4833250294223984
        ],
        [
          -0.668126346154525,
          -0.8754197845549949,
          1.3051204404796168,
          -0.06671387208378253,
          -0.05342971581829553,
          -0.9050798095137762,
          0.41656339631522143
        ],
        [
          -0.6637123289328861,
          -0.8284451311843647,
          1.2904951749204479,
          -0.11095719843678722,
          0.09310542717277656,
          -0.41146954116806544,
          -0.8998403726422685
        ],
        [
          -0.6684149290040875,
          -0.9562109802537492,
          1.344813125678602,
          0.23561883377656062,
          0.7806174557975758,
          0.5561945852616803,
          -0.16052331979959145
        ],
        [
          -0.7156146809521358,
          -0.942697845404213,
          1.335348528350613,
          -0.5530612892648639,
          0.16936423073617332,
          -0.22934630665622818,
          -0.7828404941538087
        ],
        [
          -0.7330870228633808,
          -0.955911971504113,
          1.3264162202971201,
          0.2115096971494079,
          -0.5413003872755129,
          -0.34802458893958566,
          0.7356197552000483
        ],
        [
          -0.7409604561559824,
          -0.9723305131999852,
          1.3405265192580869,
          -0.29140303991094735,
          0.047674893475358054,
          -0.41610866556942616,
          0.8600377615551567
        ],
        [
          -0.6528615747587606,
          -0.94042004617593,
          1.2965108665707783,
          -0.10370670710153662,
          -0.5637138320674031,
          -0.5979163655673236,
          -0.5603281665460017
        ],
        [
          -0.6342096079652548,
          -0.9378532852627921,
          1.3051141143963816,
          0.8953306351508767,
          0.037383814164298715,
          0.32421006199845737,
          -0.30310615285377257
        ],
        [
          -0.6293798088309163,
          -0.9459418713135401,
          1.2754746505682084,
          0.40403581118368725,
          0.2416474700132939,
          0.8620980020031945,
          -0.187479594781447
        ],
        [
          -0.5992294518914089,
          -0.9206173357539732,
          1.2906280250941198,
          0.16434051751970216,
          0.2795387031074007,
          -0.34677319481659513,
          -0.8801128672636721
        ],
        [
          -0.5503052722573727,
          -0.9138065789759034,
          1.290823573672602,
          0.05297988807406318,
          -0.6062351961115787,
          0.6588515400431887,
          -0.44225181360615745
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6683680324857612,
            -0.8390799774142857,
            1.249970235464198
          ],
          "distance_m": -0.00031771998166952193,
          "contact_frame": [
            -0.14329563968474016,
            0.14799331823561934,
            0.97855216386504,
            0.021442918892313874,
            0.9889883607796458,
            -0.14643163412243598,
            -0.9894476039067047,
            0.0,
            -0.1448911285182127
          ],
          "force_torque_contact_frame": [
            1.3506671275466064,
            -0.35966497088469673,
            0.09567359825482308,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.762158338086492,
            -0.9468302548018759,
            1.2552604748497
          ],
          "distance_m": -0.0002739338279292712,
          "contact_frame": [
            -0.08620663931746635,
            0.1493153404518916,
            0.9850245400208687,
            0.013017909300441236,
            0.9887896283364503,
            -0.14874678124823335,
            -0.9961922251127207,
            -1.734723475976807e-18,
            -0.0871840044100192
          ],
          "force_torque_contact_frame": [
            2.4534446460543853,
            -0.07584144461101383,
            -0.4965302759946266,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.634649509562258,
            -0.9421338102326764,
            1.270497704401875
          ],
          "distance_m": -0.00030772130088939907,
          "contact_frame": [
            -0.14329372289177883,
            0.1479875846635523,
            0.9785533116623039,
            0.02144178272762487,
            0.9889892187407545,
            -0.14642600577770803,
            -0.9894479061240543,
            0.0,
            -0.1448890646899364
          ],
          "force_torque_contact_frame": [
            3.3053227932104603,
            -0.6307778684619777,
            -0.5063665541381885,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 140,
      "physics_step": 933,
      "sim_time_s": 4.664999999999923,
      "qpos": [
        -0.6608392520999005,
        -0.929777851086912,
        1.310381311097596,
        0.7987580116212819,
        0.43532828374368404,
        -0.36769314487360605,
        -0.19307168476126502,
        -0.26414720488558857,
        -0.13721048931350754,
        0.40499561587102434,
        -0.3281296312210801,
        -0.12748421268391819,
        1.049996725867936,
        0.6737007468806455,
        -2.9768564097430548,
        0.44035879866951994,
        -0.5336311519288773,
        0.3926645886664125,
        1.572849002135056,
        0.9157973604866032,
        0.4522854969509538
      ],
      "qvel": [
        -0.002309187400777668,
        0.0024214389100154785,
        -0.0007196587942137387,
        0.0050232436081760245,
        0.012590704819138052,
        0.005013883364939636,
        -0.002088435607481747,
        0.028691223439823783,
        -0.045107208571213135,
        0.008241739983931776,
        -0.0013182883646759476,
        -0.0001300500885216611,
        0.012217522329766578,
        9.027630303353151e-05,
        -8.796682685331312e-05,
        1.4117191979515185e-05,
        5.573532325764491e-05,
        1.9055637430819462e-05,
        0.000728084759387767,
        -0.0016432461688557726
      ],
      "target_rad": [
        -0.9273397922515869,
        -0.4317609667778015,
        0.13991594314575195,
        -0.23959121108055115,
        -0.16129440069198608,
        1.5425418615341187,
        0.6995686292648315,
        -4.718165397644043,
        1.138730525970459,
        -4.011464595794678,
        2.080650568008423,
        2.0184531211853027,
        0.8927667140960693,
        0.4483940005302429
      ],
      "policy_call": 233,
      "body_poses": [
        [
          -0.6608392520999005,
          -0.929777851086912,
          1.310381311097596,
          0.7987580116212819,
          0.43532828374368404,
          -0.36769314487360605,
          -0.19307168476126502
        ],
        [
          -0.6533362155601625,
          -0.9212195189148162,
          1.3257991382180248,
          -0.027367694472343496,
          -0.6388207663096825,
          -0.5169130150395203,
          -0.569174817357139
        ],
        [
          -0.6335094840247995,
          -0.9219589625885806,
          1.3317028607452082,
          -0.5226043735605171,
          -0.433878812531124,
          0.0072286621849235455,
          -0.7338811833090003
        ],
        [
          -0.6470827736009674,
          -0.8943533830185424,
          1.336279735954757,
          -0.7673044059517693,
          0.3777012557272665,
          -0.18747942446084276,
          -0.4831533663681553
        ],
        [
          -0.6681852952228492,
          -0.8753343970336005,
          1.3050873869295136,
          -0.0674273049336739,
          -0.05380965066855278,
          -0.9051506771365785,
          0.4162455185626677
        ],
        [
          -0.6637453941102853,
          -0.8283510411520852,
          1.2904979541707822,
          -0.11135752002500468,
          0.09380477352153024,
          -0.41110514182955343,
          -0.8998848423880463
        ],
        [
          -0.6684718639463221,
          -0.9561415505172967,
          1.3447920979382977,
          0.23565002724368983,
          0.7804917687940318,
          0.5563683025894711,
          -0.1604866828697124
        ],
        [
          -0.7156778211242707,
          -0.9426492128639207,
          1.3353287776139624,
          -0.552739711144622,
          0.1693631422126438,
          -0.22935351921942504,
          -0.783065706697264
        ],
        [
          -0.7331423369431869,
          -0.9558765746487559,
          1.3264007557146889,
          0.21126935402401126,
          -0.5410861422213723,
          -0.3481962742335018,
          0.7357651808533607
        ],
        [
          -0.7410001682810398,
          -0.9723007596359186,
          1.3405131840731719,
          -0.29167560257850966,
          0.047934226056105284,
          -0.4161167728108622,
          0.8599270226120002
        ],
        [
          -0.6529267386124319,
          -0.940344401608952,
          1.296489221968318,
          -0.10357952161719909,
          -0.5635911940917755,
          -0.5980434787939284,
          -0.5603394026086478
        ],
        [
          -0.6342756457659116,
          -0.9377694353704388,
          1.3050919125068061,
          0.8953923754302243,
          0.03730434763125375,
          0.32422916854399103,
          -0.30291306662885986
        ],
        [
          -0.6294431467388445,
          -0.9458562146371208,
          1.275452395738725,
          0.40406592430814425,
          0.24145503018225634,
          0.862155303959576,
          -0.18739911703917597
        ],
        [
          -0.5993034107403247,
          -0.9205183925411385,
          1.2906046882973408,
          0.16454687240965132,
          0.2795979773984888,
          -0.3467169901933447,
          -0.8800776252843525
        ],
        [
          -0.5503822754666748,
          -0.913685746207464,
          1.2907982538319394,
          0.05304883331466576,
          -0.6064079785290484,
          0.6586969434590206,
          -0.4422369518007405
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6683341797472508,
            -0.8389608794121397,
            1.2499580426539285
          ],
          "distance_m": -0.0003160348755951963,
          "contact_frame": [
            -0.14329614623792272,
            0.14799241181208048,
            0.9785522267714705,
            0.021442860419455777,
            0.9889884964174475,
            -0.14643072659448272,
            -0.9894475318127746,
            0.0,
            -0.1448916208398829
          ],
          "force_torque_contact_frame": [
            1.3504679012691136,
            -0.3567968065419108,
            0.09040307820782417,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7622346687849731,
            -0.9468171620860366,
            1.255251967757457
          ],
          "distance_m": -0.00027402532188924237,
          "contact_frame": [
            -0.08620318089055203,
            0.14931627273854883,
            0.98502470136531,
            0.013017470180267526,
            0.9887894875530722,
            -0.1487477555280702,
            -0.9961925301237992,
            1.734723475976807e-18,
            -0.08718051918601646
          ],
          "force_torque_contact_frame": [
            2.454216230121636,
            -0.08121865396464656,
            -0.49223970359657115,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6347146492282892,
            -0.9420505031271991,
            1.2704755625015307
          ],
          "distance_m": -0.0003077303618728537,
          "contact_frame": [
            -0.14329378524472597,
            0.14798752662448458,
            0.9785533113089986,
            0.021441783460301414,
            0.9889892274254394,
            -0.146425947012386,
            -0.9894478970781028,
            3.469446951953614e-18,
            -0.14488912646475616
          ],
          "force_torque_contact_frame": [
            3.304698309491468,
            -0.6285421392968515,
            -0.5053234941925561,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 141,
      "physics_step": 940,
      "sim_time_s": 4.699999999999922,
      "qpos": [
        -0.6609200147116878,
        -0.9296911864113075,
        1.3103555104172022,
        0.7988276930041888,
        0.4353877019209035,
        -0.36757910040085234,
        -0.1928664586032047,
        -0.2642250051080246,
        -0.13620530811967213,
        0.4034274797864762,
        -0.3278402144003793,
        -0.12753546413428168,
        1.0499921804046086,
        0.6741190418240195,
        -2.976854085212168,
        0.44035596207797795,
        -0.5336306359030811,
        0.392666546065799,
        1.5728497698520492,
        0.9158264301410305,
        0.4522295760154746
      ],
      "qvel": [
        -0.0023131313447273464,
        0.0026345602551391687,
        -0.0007904809430587052,
        0.0014233522643981613,
        0.01210726227988488,
        0.00900579123088446,
        -0.002445394325463694,
        0.02899228153704541,
        -0.04469639698268547,
        0.00872345767197229,
        -0.0016533529024734493,
        -0.00013202074397452904,
        0.011753376915223714,
        -6.746691963462731e-08,
        -6.59579742232229e-05,
        1.432055296811461e-05,
        5.6890025310285896e-05,
        2.772466145925397e-05,
        0.0008867356998124044,
        -0.0015652800396606453
      ],
      "target_rad": [
        -0.9279526472091675,
        -0.43176740407943726,
        0.14049440622329712,
        -0.24028334021568298,
        -0.1612502932548523,
        1.5430618524551392,
        0.6990248560905457,
        -4.718321323394775,
        1.138960838317871,
        -4.011878490447998,
        2.0810673236846924,
        2.0187458992004395,
        0.8930429816246033,
        0.4485400319099426
      ],
      "policy_call": 235,
      "body_poses": [
        [
          -0.6609200147116878,
          -0.9296911864113075,
          1.3103555104172022,
          0.7988276930041888,
          0.4353877019209035,
          -0.36757910040085234,
          -0.1928664586032047
        ],
        [
          -0.6534207489194519,
          -0.92112800079005,
          1.3257724771938832,
          -0.02726315942162854,
          -0.6386800418542028,
          -0.5171179344227483,
          -0.5691516196707308
        ],
        [
          -0.6335936986177548,
          -0.921856259083836,
          1.331676519554123,
          -0.5220711873433697,
          -0.43383861753966707,
          0.007287536847092001,
          -0.734283746983316
        ],
        [
          -0.6472009582899778,
          -0.8942686272523027,
          1.3362607374962008,
          -0.7675443447107558,
          0.37787866104072554,
          -0.18666134801401923,
          -0.4829502433897259
        ],
        [
          -0.668254042467443,
          -0.8752331606041827,
          1.3050450436785892,
          -0.06825594198080641,
          -0.05424547715267494,
          -0.9052196898522136,
          0.4159036759835805
        ],
        [
          -0.6637844548106033,
          -0.8282405973395671,
          1.2904943810133036,
          -0.11181991867114638,
          0.09462047746716812,
          -0.4107087855844181,
          -0.8999230880892196
        ],
        [
          -0.6685384092822063,
          -0.9560561820849199,
          1.3447684546322545,
          0.23570909191969297,
          0.7803409037110404,
          0.5565622218891363,
          -0.16046118268185455
        ],
        [
          -0.7157514519680757,
          -0.9425882103696978,
          1.3353057732881395,
          -0.5523694150270096,
          0.1693793442341831,
          -0.22938440423896278,
          -0.7833144082560045
        ],
        [
          -0.7332070397448223,
          -0.9558311381328716,
          1.3263833684980812,
          0.21097986420465917,
          -0.5408496856247083,
          -0.3483697432073423,
          0.735939967984814
        ],
        [
          -0.7410471705888662,
          -0.9722608857070665,
          1.3404991661374819,
          -0.2919843173963585,
          0.04823650692081215,
          -0.4161001564428105,
          0.859813385335987
        ],
        [
          -0.6530026843064863,
          -0.9402548062613826,
          1.2964639368951718,
          -0.10345087624794916,
          -0.5634476424300984,
          -0.5982055735317918,
          -0.5603345092344365
        ],
        [
          -0.634352599086469,
          -0.9376699386719255,
          1.305065842546309,
          0.8954641480960598,
          0.03718679884668273,
          0.3242418282641229,
          -0.30270173152804136
        ],
        [
          -0.6295169998523181,
          -0.9457564140011924,
          1.2754267484846507,
          0.40410772729657096,
          0.24122286652292046,
          0.862215152726385,
          -0.1873326021136823
        ],
        [
          -0.5993894300512325,
          -0.9204024950262095,
          1.2905763100261842,
          0.1647943674038127,
          0.2796598389521753,
          -0.34667987185979865,
          -0.8800262822191707
        ],
        [
          -0.5504718192877369,
          -0.9135445805412679,
          1.2907670090255925,
          0.05310859839876768,
          -0.6066089397763321,
          0.6585051519221032,
          -0.4422397945137925
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6679794416529617,
            -0.838836323066173,
            1.250002790210673
          ],
          "distance_m": -0.00029326032449471955,
          "contact_frame": [
            -0.14564999662287115,
            0.145800402352251,
            0.9785337608675949,
            0.021465204722918848,
            0.9893140263202183,
            -0.1442116580318022,
            -0.989103292619108,
            0.0,
            -0.14722322007767386
          ],
          "force_torque_contact_frame": [
            1.3473895059965442,
            -0.3490902440653201,
            0.08598243353684165,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7623230218180759,
            -0.9468012728830957,
            1.2552419538059338
          ],
          "distance_m": -0.00027424140290862594,
          "contact_frame": [
            -0.08619872756434294,
            0.14931746732367243,
            0.9850249099988955,
            0.01301690420117051,
            0.9887893071590348,
            -0.1487490042083426,
            -0.9961929228675065,
            0.0,
            -0.0871760312740507
          ],
          "force_torque_contact_frame": [
            2.4596610136635997,
            -0.08251055497579429,
            -0.4880275796085891,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6347905598549636,
            -0.9419536988078775,
            1.270449809633688
          ],
          "distance_m": -0.00030772481569671855,
          "contact_frame": [
            -0.1432938129467986,
            0.14798750083856854,
            0.9785533111520918,
            0.021441783785751192,
            0.9889892312839179,
            -0.14642592090381548,
            -0.9894478930591813,
            0.0,
            -0.14488915390997012
          ],
          "force_torque_contact_frame": [
            3.3025640313590525,
            -0.6270218877583202,
            -0.5072341949133401,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 142,
      "physics_step": 947,
      "sim_time_s": 4.734999999999921,
      "qpos": [
        -0.6610011228974018,
        -0.9295989206099545,
        1.310328295087124,
        0.7989251606124862,
        0.43539220205663315,
        -0.3674801575253473,
        -0.19264099240228386,
        -0.26432526233394166,
        -0.1351458431526882,
        0.401867751315639,
        -0.32753524649523824,
        -0.1275935777638974,
        1.0499882024870744,
        0.67450422563719,
        -2.9768526417343586,
        0.44035363989609194,
        -0.5336304485554753,
        0.39266879383055375,
        1.5728507497923134,
        0.9158582249152709,
        0.4521759362099564
      ],
      "qvel": [
        -0.0023180195270868557,
        0.0025712837945534935,
        -0.0007539183421531761,
        0.002374471943321056,
        0.012462355344764874,
        0.007652516826869043,
        -0.0032396003374994837,
        0.030893278292197037,
        -0.044379017745755873,
        0.008721595086311642,
        -0.001687742289102115,
        -0.0001047655730915474,
        0.010511709117729145,
        5.099293517655124e-05,
        -6.573509589775316e-05,
        1.6894293678768635e-06,
        7.325339947769913e-05,
        2.4793397907539235e-05,
        0.0009645900537859528,
        -0.0014921010929569666
      ],
      "target_rad": [
        -0.9283551573753357,
        -0.4319896399974823,
        0.14084112644195557,
        -0.2405322939157486,
        -0.161352276802063,
        1.5434465408325195,
        0.6987576484680176,
        -4.71864128112793,
        1.139150857925415,
        -4.012411117553711,
        2.081432819366455,
        2.018843650817871,
        0.8933926820755005,
        0.44873642921447754
      ],
      "policy_call": 236,
      "body_poses": [
        [
          -0.6610011228974018,
          -0.9295989206099545,
          1.310328295087124,
          0.7989251606124862,
          0.43539220205663315,
          -0.3674801575253473,
          -0.19264099240228386
        ],
        [
          -0.6535055432893861,
          -0.9210289172070202,
          1.3257432659925001,
          -0.027210382502519677,
          -0.6385343078964332,
          -0.5173643801544965,
          -0.5690936925240383
        ],
        [
          -0.6336782566165123,
          -0.9217451580155649,
          1.33164798463913,
          -0.5215510929209177,
          -0.43375458342253087,
          0.007307059502361379,
          -0.7347026784450787
        ],
        [
          -0.6473205045844376,
          -0.894175415647779,
          1.336235835569092,
          -0.7677562029671056,
          0.37811020124947414,
          -0.1858521364236232,
          -0.4827443131756093
        ],
        [
          -0.6683238569115407,
          -0.8751277678037154,
          1.3049940816643877,
          -0.06911203227207496,
          -0.054674292922526596,
          -0.9052637078726177,
          0.41561023555413856
        ],
        [
          -0.6638252717143729,
          -0.8281275373378945,
          1.2904771581823429,
          -0.11227681724548097,
          0.0954680521808809,
          -0.41035861379399785,
          -0.899936428536529
        ],
        [
          -0.6686055814172414,
          -0.9559605606289014,
          1.3447468919263548,
          0.23581913804335922,
          0.7801774359191627,
          0.556741138837388,
          -0.16047369548040508
        ],
        [
          -0.7158255456888103,
          -0.9425176967830479,
          1.3352830456779416,
          -0.5520050827587681,
          0.16943487003708402,
          -0.2294652427366008,
          -0.7835355229980555
        ],
        [
          -0.7332725381003478,
          -0.9557766874824075,
          1.3263676876348762,
          0.21066588794173305,
          -0.540640479324014,
          -0.34848617274698934,
          0.7361284827923577
        ],
        [
          -0.7410958595827821,
          -0.9722098216523466,
          1.340488868263112,
          -0.29227711928557926,
          0.04854193995950168,
          -0.41602520753099803,
          0.8597329773283577
        ],
        [
          -0.6530790851452786,
          -0.940161532697438,
          1.2964386390891058,
          -0.10336265916208845,
          -0.5633001858254072,
          -0.5984019258512503,
          -0.5602893863687943
        ],
        [
          -0.6344299887011352,
          -0.9375658143916848,
          1.3050394209311373,
          0.8955368606143987,
          0.03701152344912756,
          0.32423401145077463,
          -0.3025164197715917
        ],
        [
          -0.6295913584825112,
          -0.9456559669524691,
          1.2754018250578103,
          0.4041647546004906,
          0.24096836263214882,
          0.862261184614931,
          -0.18732524884692864
        ],
        [
          -0.5994757111111173,
          -0.9202842578637425,
          1.290545307013057,
          0.16505699014978273,
          0.2797087302071678,
          -0.34670293330563606,
          -0.8799524375134473
        ],
        [
          -0.5505615786237057,
          -0.913401473194661,
          1.2907321711428656,
          0.053125942380904276,
          -0.6068100231206934,
          0.6582869420878911,
          -0.44228670787508334
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6679463387430588,
            -0.8386998918973294,
            1.2499786241930184
          ],
          "distance_m": -0.00030966320144296876,
          "contact_frame": [
            -0.1457046775190441,
            0.1457489815681051,
            0.9785332806404345,
            0.02146552576173602,
            0.9893216031058152,
            -0.1441596227516987,
            -0.9890952320948896,
            0.0,
            -0.14727736366175345
          ],
          "force_torque_contact_frame": [
            1.3553224479062678,
            -0.3517786307061679,
            0.08221821411666802,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.762410503513222,
            -0.9467846349970795,
            1.2552319174056783
          ],
          "distance_m": -0.0002744243866056052,
          "contact_frame": [
            -0.08619331428913937,
            0.1493189075280806,
            0.9850251653772478,
            0.013016215146696795,
            0.9887890896721202,
            -0.1487505102130221,
            -0.9961934002567516,
            -1.734723475976807e-18,
            -0.08717057579763629
          ],
          "force_torque_contact_frame": [
            2.4578676387669853,
            -0.08910335858562846,
            -0.4826978215688133,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6348669133528918,
            -0.9418568972696637,
            1.2704241379230243
          ],
          "distance_m": -0.00030743433638604026,
          "contact_frame": [
            -0.1432937410315111,
            0.14798756777904756,
            0.9785533115594858,
            0.02144178294081052,
            0.9889892212672703,
            -0.14642598868191864,
            -0.9894479034924039,
            -3.469446951953614e-18,
            -0.1448890826614849
          ],
          "force_torque_contact_frame": [
            3.297639194851315,
            -0.6267589073582177,
            -0.5096192409369903,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 143,
      "physics_step": 953,
      "sim_time_s": 4.764999999999921,
      "qpos": [
        -0.6610705757910486,
        -0.9295238555702294,
        1.3103062329200645,
        0.7989922261897536,
        0.4354323338459599,
        -0.367380726908446,
        -0.19246170171237953,
        -0.2644300488812995,
        -0.134221122120954,
        0.4005487424319289,
        -0.3272708898432356,
        -0.12764805009459151,
        1.0499852491551824,
        0.6748088011581814,
        -2.976851634172777,
        0.44035160011028207,
        -0.5336303501834742,
        0.39267122890977685,
        1.5728513928923713,
        0.9158922826847242,
        0.4521332077396372
      ],
      "qvel": [
        -0.0023117607744594796,
        0.002465329043392619,
        -0.0007258804159329478,
        0.003775075456572283,
        0.012734079644196959,
        0.0059589719915454555,
        -0.0035736310411953734,
        0.030564544904908057,
        -0.043617851782832145,
        0.008833395966743955,
        -0.0019325363219885015,
        -9.340802159669077e-05,
        0.00994864523545043,
        2.32509607046662e-05,
        -7.299723372219635e-05,
        5.691361055919105e-06,
        8.675536311747621e-05,
        2.09003721584769e-05,
        0.0012912594035079004,
        -0.0013694556123883678
      ],
      "target_rad": [
        -0.9288227558135986,
        -0.43250948190689087,
        0.14186513423919678,
        -0.24118249118328094,
        -0.1621159315109253,
        1.5443683862686157,
        0.6982883810997009,
        -4.719026565551758,
        1.1390726566314697,
        -4.013063907623291,
        2.0820155143737793,
        2.0189523696899414,
        0.8949571251869202,
        0.44918984174728394
      ],
      "policy_call": 238,
      "body_poses": [
        [
          -0.6610705757910486,
          -0.9295238555702294,
          1.3103062329200645,
          0.7989922261897536,
          0.4354323338459599,
          -0.367380726908446,
          -0.19246170171237953
        ],
        [
          -0.6535781046582739,
          -0.9209492893207372,
          1.3257201775792882,
          -0.027136847200725865,
          -0.6384055732167173,
          -0.5175600527702247,
          -0.5690637111838375
        ],
        [
          -0.6337506141410604,
          -0.9216553221222169,
          1.3316254411189654,
          -0.5210764920307573,
          -0.4337015143506472,
          0.007351024932281847,
          -0.7350702336071846
        ],
        [
          -0.6474236416420482,
          -0.8941017169361438,
          1.3362186056280199,
          -0.7679433775270454,
          0.378278117560973,
          -0.18513277943266274,
          -0.4825914303698501
        ],
        [
          -0.6683852575947781,
          -0.8750417803088942,
          1.3049563223328815,
          -0.06984950384386583,
          -0.05502724329128225,
          -0.9053195691300537,
          0.4153185850148077
        ],
        [
          -0.6638636653295945,
          -0.828033589632068,
          1.2904723583492694,
          -0.11265712263144875,
          0.09619659709831602,
          -0.4100179202823219,
          -0.8999666063107379
        ],
        [
          -0.6686624819332019,
          -0.9558857307007533,
          1.3447274206244626,
          0.23587731129419215,
          0.7800440615261199,
          0.5569066633912269,
          -0.16046222098958132
        ],
        [
          -0.7158885952185988,
          -0.9424640444720459,
          1.3352641990412497,
          -0.5517051040560579,
          0.1694586151015826,
          -0.22949947301930812,
          -0.7837316172071972
        ],
        [
          -0.7333283137133011,
          -0.9557358148257911,
          1.3263536256526853,
          0.21042398591434797,
          -0.5404554075331823,
          -0.34861603836934174,
          0.7362720668419565
        ],
        [
          -0.7411374729950466,
          -0.9721730054518213,
          1.34047792371085,
          -0.2925263686474886,
          0.04878645092133975,
          -0.4159986041003962,
          0.8596472341832639
        ],
        [
          -0.653144521590851,
          -0.9400842916418177,
          1.2964172137036682,
          -0.10325638256780073,
          -0.5631777383279817,
          -0.5985490115182404,
          -0.5602749640322415
        ],
        [
          -0.634496223856393,
          -0.9374798310032766,
          1.3050170844230047,
          0.8955976836485884,
          0.036897678273570794,
          0.32424502993205884,
          -0.30233840468200873
        ],
        [
          -0.6296551793400309,
          -0.9455704588990522,
          1.2753800125662456,
          0.40419998532912604,
          0.24076231582683677,
          0.862312118785953,
          -0.18727970774356234
        ],
        [
          -0.5995499020908301,
          -0.920184504709028,
          1.2905202403063014,
          0.16527930931798898,
          0.27975456087350137,
          -0.34668242347003153,
          -0.879904217991248
        ],
        [
          -0.550638864921783,
          -0.9132796685403031,
          1.2907037628694054,
          0.053166222705718996,
          -0.6069869404964332,
          0.6581151396178334,
          -0.4422947770840005
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6679202267970267,
            -0.8385832530292822,
            1.2499624675669174
          ],
          "distance_m": -0.00031424518821651106,
          "contact_frame": [
            -0.14575152769247957,
            0.14570490137054168,
            0.9785328680692893,
            0.021465792845600358,
            0.9893280960917874,
            -0.1441150166391728,
            -0.9890883236156508,
            0.0,
            -0.14732375262387892
          ],
          "force_torque_contact_frame": [
            1.3529113619753157,
            -0.3483433423901853,
            0.0770710710440265,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7624846971636979,
            -0.9467695600183433,
            1.2552233090477063
          ],
          "distance_m": -0.0002744822429391324,
          "contact_frame": [
            -0.0861896655129763,
            0.14931988378378025,
            0.9850253366617325,
            0.013015751175913038,
            0.9887889422454109,
            -0.14875153079726056,
            -0.9961937220139906,
            1.734723475976807e-18,
            -0.08716689864800754
          ],
          "force_torque_contact_frame": [
            2.459397905473142,
            -0.0931088722397504,
            -0.47871999323314524,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6349325371541811,
            -0.9417741144740455,
            1.2704021010066506
          ],
          "distance_m": -0.00030725436449211257,
          "contact_frame": [
            -0.1432937412317364,
            0.14798756759250728,
            0.9785533115583767,
            0.021441782943138452,
            0.9889892212951834,
            -0.14642598849304808,
            -0.9894479034633566,
            3.469446951953614e-18,
            -0.14488908285985005
          ],
          "force_torque_contact_frame": [
            3.297624641568915,
            -0.6237855098432966,
            -0.5086527534898265,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 144,
      "physics_step": 960,
      "sim_time_s": 4.79999999999992,
      "qpos": [
        -0.6611512530743325,
        -0.9294384591329673,
        1.3102810671218919,
        0.7990618264807273,
        0.4354958685400702,
        -0.3672590283940399,
        -0.19226115574624236,
        -0.264554472174003,
        -0.13316864919501908,
        0.39904027237044326,
        -0.3269650362878263,
        -0.12772122408199166,
        1.0499820506520086,
        0.6751511992637074,
        -2.976850888369132,
        0.4403488531215651,
        -0.5336299822470087,
        0.3926741514223931,
        1.5728521612310171,
        0.915944375808824,
        0.4520876701778272
      ],
      "qvel": [
        -0.0023000351976976965,
        0.0024290902628545164,
        -0.0007157985865698015,
        0.004126223979908733,
        0.012652786927856615,
        0.005388808516439164,
        -0.0035366875557837785,
        0.029768092729676607,
        -0.04274901746966517,
        0.008631282120191404,
        -0.002191743184989565,
        -9.091797622198828e-05,
        0.009700463355361524,
        2.315130559655161e-05,
        -7.983174146517344e-05,
        1.3645588531146408e-05,
        7.773482842772625e-05,
        2.2281567615685393e-05,
        0.0016089211039408053,
        -0.0012574690382376305
      ],
      "target_rad": [
        -0.9292865991592407,
        -0.43286260962486267,
        0.14271456003189087,
        -0.24196752905845642,
        -0.16272211074829102,
        1.5451608896255493,
        0.6978457570075989,
        -4.719293594360352,
        1.1388989686965942,
        -4.013511657714844,
        2.0825281143188477,
        2.0191619396209717,
        0.8962475061416626,
        0.44956666231155396
      ],
      "policy_call": 240,
      "body_poses": [
        [
          -0.6611512530743325,
          -0.9294384591329673,
          1.3102810671218919,
          0.7990618264807273,
          0.4354958685400702,
          -0.3672590283940399,
          -0.19226115574624236
        ],
        [
          -0.6536623529101208,
          -0.9208592295453464,
          1.3256941522774783,
          -0.027036989652705075,
          -0.6382563957483138,
          -0.5177769093286883,
          -0.5690385282587848
        ],
        [
          -0.633834614624486,
          -0.9215535779940336,
          1.3315999693003955,
          -0.5205229127558113,
          -0.4336514014114414,
          0.007410805320239772,
          -0.7354912911208435
        ],
        [
          -0.6475430379925153,
          -0.894018745127439,
          1.3362001984002958,
          -0.7681612422239551,
          0.3784554357610611,
          -0.18430181781871852,
          -0.4824237028137946
        ],
        [
          -0.6684572145968852,
          -0.8749437717507942,
          1.3049153219892962,
          -0.07069169634436129,
          -0.055428939645563335,
          -0.905390499034196,
          0.41496790354958213
        ],
        [
          -0.663909689173101,
          -0.8279259420517274,
          1.2904708177434039,
          -0.11309545371558222,
          0.09702969462117926,
          -0.40961068744614,
          -0.9000076341012272
        ],
        [
          -0.6687283789067923,
          -0.9558020746121139,
          1.3447041786203717,
          0.2359274495039012,
          0.7798931798522389,
          0.5571035787155592,
          -0.16043836565131595
        ],
        [
          -0.7159616884990152,
          -0.9424046904968237,
          1.3352424365063316,
          -0.551363337434833,
          0.16947453185521902,
          -0.22952257765791922,
          -0.7839618865292128
        ],
        [
          -0.7333930238959334,
          -0.9556907914404749,
          1.3263368171788923,
          0.2101569074737484,
          -0.5402379607723146,
          -0.3487807853834856,
          0.7364298905727017
        ],
        [
          -0.7411858827143304,
          -0.972133227339152,
          1.3404640126951448,
          -0.2928139556675206,
          0.0490617759816121,
          -0.41598587842042667,
          0.8595398062094952
        ],
        [
          -0.6532205661606778,
          -0.9399957592986419,
          1.2963923084196378,
          -0.10311909064431912,
          -0.5630381671882501,
          -0.598708757942368,
          -0.5602698444473814
        ],
        [
          -0.6345731708940431,
          -0.9373814684447201,
          1.3049911532897929,
          0.8956671717208167,
          0.03678349953586485,
          0.3242661371184843,
          -0.3021237560699015
        ],
        [
          -0.6297294259776528,
          -0.9454713745615619,
          1.2753543256220814,
          0.4042341946843346,
          0.24053019702353085,
          0.8623763257874952,
          -0.18720847440484528
        ],
        [
          -0.5996361976286576,
          -0.9200694553758437,
          1.2904917294162424,
          0.16553881476325713,
          0.27980770941333544,
          -0.3466409421778457,
          -0.8798548765368609
        ],
        [
          -0.5507288348841515,
          -0.9131385320082823,
          1.2906710912022636,
          0.05322321236315388,
          -0.6071956985886771,
          0.657921793661167,
          -0.4422890307331041
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6678919401822645,
            -0.8384484083861988,
            1.2499456462894103
          ],
          "distance_m": -0.0003153628093268627,
          "contact_frame": [
            -0.14580517536735832,
            0.1456544151027159,
            0.9785323920020121,
            0.021466092026736775,
            0.9893355302227277,
            -0.14406392862897338,
            -0.9890804101432772,
            3.469446951953614e-18,
            -0.14737687155997867
          ],
          "force_torque_contact_frame": [
            1.351514064333567,
            -0.3452025102809215,
            0.07130744282665225,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7625705910016625,
            -0.9467512546107808,
            1.2552131874705292
          ],
          "distance_m": -0.00027460179817324394,
          "contact_frame": [
            -0.08618588259795365,
            0.14932089929322842,
            0.9850255137178292,
            0.013015270440470825,
            0.9887887888898527,
            -0.1487525922500172,
            -0.9961940555816288,
            0.0,
            -0.08716308636014929
          ],
          "force_torque_contact_frame": [
            2.4606687959750446,
            -0.09817728096352041,
            -0.4752746431187189,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6350089170304599,
            -0.9416779793934174,
            1.2703764087106806
          ],
          "distance_m": -0.00030719386557430476,
          "contact_frame": [
            -0.14329377082877973,
            0.14798754004304837,
            0.9785533113906858,
            0.02144178329090532,
            0.9889892254175509,
            -0.14642596059885934,
            -0.9894478991695194,
            -3.469446951953614e-18,
            -0.1448891121824721
          ],
          "force_torque_contact_frame": [
            3.2973439221382237,
            -0.6206631545120079,
            -0.5063546725450734,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 145,
      "physics_step": 967,
      "sim_time_s": 4.834999999999919,
      "qpos": [
        -0.6612314665999625,
        -0.929353670354188,
        1.3102561167127902,
        0.7991287310662811,
        0.43556148007047113,
        -0.3671380267703501,
        -0.19206545124615934,
        -0.2646784815419383,
        -0.13213876115812426,
        0.3975583810150893,
        -0.3266778238509603,
        -0.1278034240693236,
        1.0499789627137246,
        0.6754870997957781,
        -2.976849863787103,
        0.4403459014499371,
        -0.5336293689999815,
        0.3926769358394472,
        1.5728530654790545,
        0.9160076587818141,
        0.4520462166912077
      ],
      "qvel": [
        -0.0022863437368998425,
        0.002419865512819877,
        -0.0007113892760816954,
        0.004073626507500906,
        0.012425298482912,
        0.0052379623878166985,
        -0.003572484332022797,
        0.02926413288400381,
        -0.042065785817778104,
        0.007937226434574262,
        -0.0024430857916398954,
        -8.790628073292723e-05,
        0.00953572403055767,
        3.381793405749385e-05,
        -8.352456870624641e-05,
        1.938344918058336e-05,
        7.659831523578093e-05,
        2.6490571902901723e-05,
        0.0019202584805327041,
        -0.0011403045803755083
      ],
      "target_rad": [
        -0.929530143737793,
        -0.4330209791660309,
        0.14309436082839966,
        -0.242341086268425,
        -0.16296809911727905,
        1.5455175638198853,
        0.6976337432861328,
        -4.71940803527832,
        1.1388468742370605,
        -4.013723850250244,
        2.082770824432373,
        2.0192666053771973,
        0.8967800736427307,
        0.44973379373550415
      ],
      "policy_call": 241,
      "body_poses": [
        [
          -0.6612314665999625,
          -0.929353670354188,
          1.3102561167127902,
          0.7991287310662811,
          0.43556148007047113,
          -0.3671380267703501,
          -0.19206545124615934
        ],
        [
          -0.6537460673121757,
          -0.9207699760822201,
          1.3256684166757349,
          -0.02693630287862076,
          -0.6381095082453335,
          -0.5179885344917337,
          -0.5690154384629972
        ],
        [
          -0.6339180900549867,
          -0.9214528533828373,
          1.3315747688901476,
          -0.5199782290242835,
          -0.43360397273178275,
          0.007470660932785068,
          -0.7359038153163859
        ],
        [
          -0.647661232626229,
          -0.8939365150570588,
          1.3361820628256158,
          -0.7683758752897532,
          0.3786261239147146,
          -0.18348531106927352,
          -0.48225917636042726
        ],
        [
          -0.6685288426771215,
          -0.8748465257890119,
          1.3048752577359912,
          -0.0715143081614099,
          -0.0558177349900075,
          -0.9054610866137301,
          0.4146206758195541
        ],
        [
          -0.663956438746475,
          -0.827819141408182,
          1.290469764318802,
          -0.11352495333156339,
          0.09784528903730919,
          -0.4092076496133403,
          -0.9000486008445311
        ],
        [
          -0.6687940070396602,
          -0.955719267542181,
          1.3446809177909147,
          0.2359733692641113,
          0.7797454978399359,
          0.5572981089593702,
          -0.16041304606173798
        ],
        [
          -0.7160343968765488,
          -0.9423457288673356,
          1.3352207892837955,
          -0.5510278650295065,
          0.16948769647265738,
          -0.22954236448432405,
          -0.7841890815437075
        ],
        [
          -0.7334574857867766,
          -0.955645840276765,
          1.3263199467993414,
          0.20989647318171345,
          -0.5400230730769771,
          -0.3489454228103056,
          0.7365837650872538
        ],
        [
          -0.7412343062752137,
          -0.9720935274511727,
          1.340449867170789,
          -0.2930965800176119,
          0.04933164348431621,
          -0.41597665094436853,
          0.8594324927545061
        ],
        [
          -0.6532962359725796,
          -0.9399077702483702,
          1.2963675210201413,
          -0.10298130588367391,
          -0.5629015383548508,
          -0.5988636944211412,
          -0.5602668866357344
        ],
        [
          -0.6346497233162827,
          -0.9372838763588613,
          1.3049653548528666,
          0.8957351396420057,
          0.036674607355579696,
          0.32428866782404925,
          -0.3019112331575873
        ],
        [
          -0.629803358286914,
          -0.9453728297430589,
          1.275328695473807,
          0.4042663329152095,
          0.24030337806077745,
          0.862440442919143,
          -0.18713498064579281
        ],
        [
          -0.5997219737627849,
          -0.9199553348200413,
          1.2904634944932807,
          0.16579844683363207,
          0.27985806289793835,
          -0.3465980864647493,
          -0.8798068572803599
        ],
        [
          -0.5508182889363283,
          -0.9129983946728232,
          1.2906384064214822,
          0.053279465762096294,
          -0.60740391404235,
          0.6577307323639527,
          -0.4422805302498832
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6678657876088635,
            -0.8383146973738582,
            1.2499292024649231
          ],
          "distance_m": -0.00031546563405846086,
          "contact_frame": [
            -0.14585769877681687,
            0.14560498305671182,
            0.9785319211025189,
            0.0214663791135743,
            0.9893428065686103,
            -0.14401390786551707,
            -0.9890726597552294,
            0.0,
            -0.14742887683461592
          ],
          "force_torque_contact_frame": [
            1.350938444203227,
            -0.34314019316936517,
            0.06722573821548394,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.762655893311461,
            -0.9467320392546779,
            1.255202983593687
          ],
          "distance_m": -0.0002747113252496582,
          "contact_frame": [
            -0.08618221534679416,
            0.14932188441945443,
            0.9850256852444723,
            0.01301480445552508,
            0.9887886401215494,
            -0.14875362191073319,
            -0.9961943789356089,
            0.0,
            -0.08715939064206885
          ],
          "force_torque_contact_frame": [
            2.4615542844878577,
            -0.10216904488047218,
            -0.47285321926722657,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.635084955017226,
            -0.9415822942364458,
            1.270350822124889
          ],
          "distance_m": -0.0003071576277502366,
          "contact_frame": [
            -0.14329380521407376,
            0.1479875080365157,
            0.9785533111958762,
            0.021441783694919885,
            0.9889892302068523,
            -0.14642592819182695,
            -0.9894478941810182,
            0.0,
            -0.1448891462489466
          ],
          "force_torque_contact_frame": [
            3.2968676850741776,
            -0.618367851218819,
            -0.5044312205143593,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 146,
      "physics_step": 973,
      "sim_time_s": 4.8649999999999185,
      "qpos": [
        -0.6612998822448147,
        -0.9292811284942188,
        1.3102348154675738,
        0.7991853436672053,
        0.43561643703790665,
        -0.36703589408546394,
        -0.19190038744832094,
        -0.26478786795422693,
        -0.13126379109247852,
        0.39630536200447586,
        -0.32644833103290577,
        -0.127879788931636,
        1.0499763559522552,
        0.6757705384257711,
        -2.976848741810846,
        0.4403434617936763,
        -0.5336287638896173,
        0.39267916071459186,
        1.5728538626601165,
        0.9160688821995091,
        0.4520134829106691
      ],
      "qvel": [
        -0.0022762411988096563,
        0.0024165179474649173,
        -0.0007089540627313565,
        0.0039744874288884825,
        0.012250715937651598,
        0.005183388535031266,
        -0.0037043472827625237,
        0.029089635009333436,
        -0.0415514626581118,
        0.007422058018416259,
        -0.002625412671049686,
        -8.564250681342587e-05,
        0.009369813739210822,
        3.963445466566835e-05,
        -8.092087664312695e-05,
        2.0630445819265396e-05,
        7.487687057748345e-05,
        2.7290089746886736e-05,
        0.002138534230375919,
        -0.0010520399354731732
      ],
      "target_rad": [
        -0.9300144910812378,
        -0.43332889676094055,
        0.1438327431678772,
        -0.24304673075675964,
        -0.1634199023246765,
        1.5461997985839844,
        0.697208046913147,
        -4.719620227813721,
        1.1387816667556763,
        -4.014147758483887,
        2.083242893218994,
        2.019465446472168,
        0.8977658152580261,
        0.4500502943992615
      ],
      "policy_call": 243,
      "body_poses": [
        [
          -0.6612998822448147,
          -0.9292811284942188,
          1.3102348154675738,
          0.7991853436672053,
          0.43561643703790665,
          -0.36703589408546394,
          -0.19190038744832094
        ],
        [
          -0.6538174300152029,
          -0.920693659586317,
          1.3256464437523268,
          -0.026852913501838903,
          -0.6379844693375881,
          -0.5181686878993371,
          -0.5689955613194
        ],
        [
          -0.6339892684962893,
          -0.9213668053981131,
          1.3315532944780466,
          -0.5195166015111075,
          -0.4335619991702833,
          0.007521148543171673,
          -0.7362539819616657
        ],
        [
          -0.6477618554888538,
          -0.8938661763992133,
          1.336166455237994,
          -0.7685565948501811,
          0.3787711964448633,
          -0.18279297277722925,
          -0.4821201824849121
        ],
        [
          -0.6685900126224433,
          -0.8747635213101586,
          1.3048411088970975,
          -0.07220903600191454,
          -0.056139905241620935,
          -0.9055205248289251,
          0.4143268580151234
        ],
        [
          -0.6639972560161159,
          -0.8277280351030651,
          1.2904685787086665,
          -0.11388462908669458,
          0.09853544782067089,
          -0.40886630538085417,
          -0.9000829967868387
        ],
        [
          -0.6688501100088053,
          -0.9556483648799343,
          1.3446610637142484,
          0.23601225327578335,
          0.7796208198069865,
          0.5574620879908758,
          -0.16039206364413333
        ],
        [
          -0.7160964642487019,
          -0.9422949412042803,
          1.3352023065455347,
          -0.5507447384472677,
          0.1694988051256464,
          -0.2295594755990577,
          -0.7843805424003807
        ],
        [
          -0.7335125933353601,
          -0.9556068707554025,
          1.3263055112307702,
          0.2096765749800577,
          -0.5398417189407303,
          -0.34908381171808955,
          0.736713746846168
        ],
        [
          -0.7412758770707075,
          -0.9720589624836583,
          1.340437747550955,
          -0.2933348296451731,
          0.049559571744184225,
          -0.4159684259722897,
          0.8593420710984109
        ],
        [
          -0.6533608276204386,
          -0.939832538861888,
          1.2963463615966702,
          -0.10286519243338182,
          -0.5627864180749627,
          -0.5989945073751829,
          -0.5602640270000918
        ],
        [
          -0.6347150587575097,
          -0.9372005432869787,
          1.3049433321563433,
          0.8957923168261455,
          0.03658240031941613,
          0.32430775497933995,
          -0.30173222095490215
        ],
        [
          -0.629866500745767,
          -0.9452887154486856,
          1.275306818253906,
          0.4042932780625493,
          0.24011199643825232,
          0.8624944714375302,
          -0.18707341131109745
        ],
        [
          -0.5997950972586953,
          -0.919858085947141,
          1.2904393877608638,
          0.16602092445234082,
          0.2798988456377577,
          -0.3465633450276926,
          -0.8797656146598696
        ],
        [
          -0.5508945557562155,
          -0.9128789861106809,
          1.2906102860843756,
          0.05332522981520685,
          -0.6075813599111396,
          0.6575677723112637,
          -0.44227359832041535
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.667844912510477,
            -0.8382008656889668,
            1.2499150663147693
          ],
          "distance_m": -0.0003154233218143513,
          "contact_frame": [
            -0.1459020751879739,
            0.14556321682225015,
            0.9785315193514215,
            0.021466617365592352,
            0.9893489525482699,
            -0.14397164453641786,
            -0.9890661094157065,
            0.0,
            -0.1474728151398689
          ],
          "force_torque_contact_frame": [
            1.3505592858550934,
            -0.34063896699027196,
            0.062171512949259766,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7627285724642292,
            -0.9467148560138989,
            1.2551941739610564
          ],
          "distance_m": -0.0002747909143910951,
          "contact_frame": [
            -0.08617910068376432,
            0.14932272100056454,
            0.9850258309294864,
            0.013014408670892453,
            0.9887885137849184,
            -0.14875449631510113,
            -0.9961946535553605,
            1.734723475976807e-18,
            -0.08715625179937117
          ],
          "force_torque_contact_frame": [
            2.4623299583866194,
            -0.10703309600215805,
            -0.46974730354069844,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6351498735218587,
            -0.9415005955774945,
            1.2703289789014154
          ],
          "distance_m": -0.0003071215837560899,
          "contact_frame": [
            -0.14329383332151177,
            0.14798748187341984,
            0.9785533110366503,
            0.021441784025152604,
            0.9889892341217695,
            -0.14642590170135367,
            -0.9894478901032868,
            -3.469446951953614e-18,
            -0.14488917409577048
          ],
          "force_torque_contact_frame": [
            3.2962820193385727,
            -0.6159457463716457,
            -0.5025024620700879,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 147,
      "physics_step": 980,
      "sim_time_s": 4.899999999999918,
      "qpos": [
        -0.6613793489831135,
        -0.9291966030356029,
        1.310210045816572,
        0.7992509420971253,
        0.4356787226867203,
        -0.3669183546368592,
        -0.191710467073415,
        -0.2649210025022629,
        -0.1302480112119523,
        0.39486271162374614,
        -0.32619763706603955,
        -0.12797673120551672,
        1.0499733533965911,
        0.6760941185019256,
        -2.9768472870523497,
        0.44034073480287095,
        -0.5336280541350512,
        0.39268164866806865,
        1.5728547829970574,
        0.9161479717383355,
        0.4519784478723199
      ],
      "qvel": [
        -0.0022667790652052345,
        0.0024141253434685145,
        -0.000706905115486159,
        0.0038569390231238095,
        0.012094600416629343,
        0.005148022009309453,
        -0.003880575317423482,
        0.028991249910686103,
        -0.040967547443022584,
        0.00701289187373551,
        -0.0029537825665131748,
        -8.563191950592761e-05,
        0.009148939673305139,
        4.1869365764143726e-05,
        -7.465942713447855e-05,
        1.944149873497339e-05,
        6.634224711954463e-05,
        2.470237138409667e-05,
        0.002336341852479513,
        -0.0009674357928901279
      ],
      "target_rad": [
        -0.9304879307746887,
        -0.43363136053085327,
        0.14455872774124146,
        -0.2437210977077484,
        -0.16385376453399658,
        1.546861171722412,
        0.6967804431915283,
        -4.719817638397217,
        1.1387302875518799,
        -4.014573097229004,
        2.0837020874023438,
        2.0196573734283447,
        0.8987246751785278,
        0.4503588080406189
      ],
      "policy_call": 245,
      "body_poses": [
        [
          -0.6613793489831135,
          -0.9291966030356029,
          1.310210045816572,
          0.7992509420971253,
          0.4356787226867203,
          -0.3669183546368592,
          -0.191710467073415
        ],
        [
          -0.6539002738517148,
          -0.920604766969987,
          1.3256208792852873,
          -0.026759588116155676,
          -0.6378389731288778,
          -0.5183786415223411,
          -0.5689718383322725
        ],
        [
          -0.6340719241550195,
          -0.9212666312387333,
          1.33152837316978,
          -0.5189826539314816,
          -0.43351055807789607,
          0.007578866041740944,
          -0.7366601399171463
        ],
        [
          -0.6478786201918931,
          -0.8937842176251938,
          1.336148122786341,
          -0.7687630883434545,
          0.3789401274889408,
          -0.18199211905274593,
          -0.4819611627320106
        ],
        [
          -0.6686612555353105,
          -0.8746671002781119,
          1.3048013721264968,
          -0.07301016673875352,
          -0.05650298511702012,
          -0.905588571623021,
          0.4139882452092364
        ],
        [
          -0.6640459068796841,
          -0.8276222516233467,
          1.290466771614545,
          -0.11429494504317918,
          0.0993331045998005,
          -0.4084723808890982,
          -0.9001221661079868
        ],
        [
          -0.6689153964587952,
          -0.9555656497425241,
          1.3446380144825052,
          0.23605747506624974,
          0.7794771765268962,
          0.5576504729469284,
          -0.1603687929775396
        ],
        [
          -0.7161686033079212,
          -0.9422353678937827,
          1.3351808463912196,
          -0.5504198356278225,
          0.16951204250332097,
          -0.22957993976407953,
          -0.7845997216745083
        ],
        [
          -0.7335767433470375,
          -0.9555608608872974,
          1.326288721534454,
          0.20942380604688038,
          -0.5396339006887946,
          -0.34924158824238544,
          0.7368631051492346
        ],
        [
          -0.7413245001308012,
          -0.9720179596065677,
          1.340423648720819,
          -0.293607921734201,
          0.04982127370064095,
          -0.41595796857505346,
          0.8592387312968874
        ],
        [
          -0.6534359114455013,
          -0.9397449472888664,
          1.296321768975988,
          -0.10273203609254372,
          -0.5626541945765884,
          -0.5991454155328403,
          -0.5602599014132925
        ],
        [
          -0.6347909947982661,
          -0.9371036234721282,
          1.304917726846568,
          0.895857881524786,
          0.036475413253500164,
          0.32432974233712897,
          -0.3015268123624193
        ],
        [
          -0.6299399413246761,
          -0.945190955677485,
          1.2752813920867403,
          0.4043241063360613,
          0.23989156007763462,
          0.8625564969189374,
          -0.18700359906161182
        ],
        [
          -0.5998800029036674,
          -0.9197452064837427,
          1.2904113238283024,
          0.16628085411994079,
          0.2799436631872216,
          -0.3465254311991691,
          -0.8797171980396276
        ],
        [
          -0.5509831225897038,
          -0.9127403832454564,
          1.290577296604048,
          0.05337558854551426,
          -0.6077874930933302,
          0.6573781516090075,
          -0.44226618181121485
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.66782228039678,
            -0.8380689519799245,
            1.2498984662210155
          ],
          "distance_m": -0.00031535500003046355,
          "contact_frame": [
            -0.14595326577755774,
            0.14551503568733778,
            0.9785310514223748,
            0.021466887363251228,
            0.9893560402549291,
            -0.1439228903198538,
            -0.9890585508228514,
            3.469446951953614e-18,
            -0.14752349997271932
          ],
          "force_torque_contact_frame": [
            1.3503309463699609,
            -0.33832007981980516,
            0.057514924485272345,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7628128345728026,
            -0.9466939935541087,
            1.255183822197177
          ],
          "distance_m": -0.0002748750454746363,
          "contact_frame": [
            -0.08617550569477386,
            0.14932368638309204,
            0.9850259991001323,
            0.013013951825045899,
            0.9887883679963896,
            -0.1487555053533529,
            -0.9961949705133755,
            0.0,
            -0.08715262889812685
          ],
          "force_torque_contact_frame": [
            2.463135521827513,
            -0.11170706425619092,
            -0.4662405405481344,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6352253579230283,
            -0.9414056235665696,
            1.2703035864277734
          ],
          "distance_m": -0.00030707517155163,
          "contact_frame": [
            -0.14329386365924615,
            0.1479874536348333,
            0.9785533108647088,
            0.021441784381664934,
            0.9889892383472522,
            -0.14642587310940688,
            -0.9894478857019885,
            -3.469446951953614e-18,
            -0.14488920415222256
          ],
          "force_torque_contact_frame": [
            3.2955733373456084,
            -0.6137103447490486,
            -0.5012432254419014,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 148,
      "physics_step": 987,
      "sim_time_s": 4.934999999999917,
      "qpos": [
        -0.6614585817597382,
        -0.9291123298857655,
        1.3101854040881087,
        0.7993162641019625,
        0.43574042811963765,
        -0.3668008206255061,
        -0.19152270683303607,
        -0.26505882596095653,
        -0.1292421946400375,
        0.3934440951763664,
        -0.32596847965559866,
        -0.12813943793896382,
        1.0499705879858228,
        0.6764040477670282,
        -2.9768459525126665,
        0.4403380638807173,
        -0.5336274597719823,
        0.39268410226586736,
        1.5728556878386342,
        0.9162351727926946,
        0.4519467220725062
      ],
      "qvel": [
        -0.002262438213055524,
        0.0024044728675422836,
        -0.000702649923912889,
        0.003811359754634192,
        0.012098635128865368,
        0.005043434141510553,
        -0.00397166846705219,
        0.02854607909717565,
        -0.040204022798416596,
        0.006245300864750237,
        -0.006065446882925492,
        -7.668475596640497e-05,
        0.008625392626284686,
        3.430781884877218e-05,
        -7.57280937391619e-05,
        1.4734867617194821e-05,
        6.87847268564686e-05,
        2.5485803501917027e-05,
        0.002583438996081015,
        -0.0008697691981925762
      ],
      "target_rad": [
        -0.9307007193565369,
        -0.43376708030700684,
        0.1449231505393982,
        -0.24403469264507294,
        -0.16405129432678223,
        1.5471742153167725,
        0.6965628266334534,
        -4.719893455505371,
        1.138705849647522,
        -4.014773368835449,
        2.083911180496216,
        2.0197513103485107,
        0.8991958498954773,
        0.4504995346069336
      ],
      "policy_call": 246,
      "body_poses": [
        [
          -0.6614585817597382,
          -0.9291123298857655,
          1.3101854040881087,
          0.7993162641019625,
          0.43574042811963765,
          -0.3668008206255061,
          -0.19152270683303607
        ],
        [
          -0.6539828223752618,
          -0.92051617194602,
          1.3255954362198197,
          -0.02666795034655163,
          -0.6376937839575626,
          -0.5185885413239062,
          -0.5689476101837001
        ],
        [
          -0.6341542964318942,
          -0.9211667854114712,
          1.331503588302474,
          -0.518453481602521,
          -0.43345821345680174,
          0.007634118486494583,
          -0.7370628771251453
        ],
        [
          -0.6479948314987285,
          -0.8937024726656411,
          1.3361297221594826,
          -0.7689636232888919,
          0.37910728525842846,
          -0.1812009189593144,
          -0.4818078862894468
        ],
        [
          -0.6687327645178945,
          -0.8745712895823087,
          1.304761954429939,
          -0.07379788227840674,
          -0.05684819045495304,
          -0.9056556610954755,
          0.41365442018542226
        ],
        [
          -0.6640964193972285,
          -0.8275171573953102,
          1.2904646488078804,
          -0.11471696515561347,
          0.10013106076323869,
          -0.4080807241688145,
          -0.9001577145910438
        ],
        [
          -0.6689804880280751,
          -0.955483180900417,
          1.3446150832196866,
          0.2361015051840858,
          0.779334620305474,
          0.5578374734193442,
          -0.16034644396510744
        ],
        [
          -0.7162404972591258,
          -0.9421758376505237,
          1.3351596010473947,
          -0.550101717841374,
          0.16952541484200645,
          -0.22959973119560015,
          -0.7848141163266142
        ],
        [
          -0.7336407948640224,
          -0.955514606979574,
          1.3262720331203737,
          0.20917608507836263,
          -0.5394306990141574,
          -0.34939609719679793,
          0.7370089915706822
        ],
        [
          -0.7413733578455983,
          -0.9719765958055517,
          1.3404095857243201,
          -0.2938754769326669,
          0.05007710768368287,
          -0.41594749132147707,
          0.8591374580397511
        ],
        [
          -0.6535108311284358,
          -0.9396576251908824,
          1.2962972794187908,
          -0.1025992043860903,
          -0.5625236757217835,
          -0.5992950454851308,
          -0.5602552685774325
        ],
        [
          -0.6348667449997598,
          -0.9370070541703207,
          1.3048921921985386,
          0.8959224822153768,
          0.03636914570970755,
          0.32435258130243994,
          -0.30132307263770686
        ],
        [
          -0.6300132831145316,
          -0.9450935411015985,
          1.2752560211091601,
          0.4043536499549154,
          0.23967280585481493,
          0.8626184432421934,
          -0.1869344625269344
        ],
        [
          -0.5999646881639877,
          -0.9196328088362165,
          1.2903832792354262,
          0.16654280424422072,
          0.2799856278695493,
          -0.346488694907338,
          -0.8796687597285561
        ],
        [
          -0.5510714885278186,
          -0.9126022186838461,
          1.2905440008802225,
          0.053423636427015225,
          -0.6079942333689038,
          0.657188439245597,
          -0.4422581628223612
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6678025456442874,
            -0.8379341525873505,
            1.2498811989027858
          ],
          "distance_m": -0.000314908132105681,
          "contact_frame": [
            -0.1460445493404747,
            0.145429492919079,
            0.9785301488442946,
            0.021467413019219176,
            0.9893686181546791,
            -0.143836322217174,
            -0.9890450645881611,
            3.469446951953614e-18,
            -0.14761388895967778
          ],
          "force_torque_contact_frame": [
            1.349818311552632,
            -0.33690849313895044,
            0.054775209080777376,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7628964630275032,
            -0.9466723715522286,
            1.2551734141506337
          ],
          "distance_m": -0.0002749497502503742,
          "contact_frame": [
            -0.08617201729483301,
            0.14932462313368808,
            0.985026162272516,
            0.013013508516749513,
            0.988788226530829,
            -0.14875648446404768,
            -0.996195278061196,
            0.0,
            -0.08714911341245252
          ],
          "force_torque_contact_frame": [
            2.4639535447278176,
            -0.11438486944024584,
            -0.46306477104558785,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.635300736275016,
            -0.9413109728908309,
            1.2702782600960238
          ],
          "distance_m": -0.00030702481148287236,
          "contact_frame": [
            -0.14329389269302503,
            0.14798742660951927,
            0.9785533107002254,
            0.02144178472278432,
            0.9889892423911861,
            -0.14642584574592568,
            -0.989447881489865,
            3.469446951953614e-18,
            -0.1448892329167989
          ],
          "force_torque_contact_frame": [
            3.295050990841615,
            -0.6121010269405236,
            -0.5015678783941082,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 149,
      "physics_step": 993,
      "sim_time_s": 4.964999999999916,
      "qpos": [
        -0.6615264263508536,
        -0.9290403445844175,
        1.3101643914293624,
        0.7993724929060669,
        0.43579331367444485,
        -0.3666989332336262,
        -0.19136273855458064,
        -0.2651787307921777,
        -0.12839322354622185,
        0.3922500469260623,
        -0.32579063825717813,
        -0.12837361867691474,
        1.0499683424280617,
        0.6766537626059511,
        -2.9768449692796533,
        0.44033579972027215,
        -0.533627097444085,
        0.39268611207673987,
        1.5728564070220605,
        0.9163290363810441,
        0.4519218375585467
      ],
      "qvel": [
        -0.002260763035365322,
        0.002394124223995944,
        -0.0006982042462204347,
        0.0038065192323090795,
        0.012149786578083636,
        0.004920883274995612,
        -0.004007867522203508,
        0.02809306869985783,
        -0.03949871659586805,
        0.005689530254275982,
        -0.009081148285125696,
        -7.334696078976716e-05,
        0.008090600733637892,
        3.357579089363234e-05,
        -7.650062585644739e-05,
        1.030773988396385e-05,
        6.735494219537358e-05,
        2.2424502569372068e-05,
        0.003930500443980229,
        -0.0007979200805741788
      ],
      "target_rad": [
        -0.9310715794563293,
        -0.4339977204799652,
        0.14566141366958618,
        -0.24462752044200897,
        -0.16441351175308228,
        1.5477564334869385,
        0.6961138248443604,
        -4.719977378845215,
        1.1386640071868896,
        -4.015117645263672,
        2.084280252456665,
        2.01993727684021,
        0.9001259803771973,
        0.4507570266723633
      ],
      "policy_call": 248,
      "body_poses": [
        [
          -0.6615264263508536,
          -0.9290403445844175,
          1.3101643914293624,
          0.7993724929060669,
          0.43579331367444485,
          -0.3666989332336262,
          -0.19136273855458064
        ],
        [
          -0.6540534627767673,
          -0.9204405013093623,
          1.3255737233767528,
          -0.02658899894631723,
          -0.6375697709477498,
          -0.5187686066982105,
          -0.5689261331781702
        ],
        [
          -0.6342247795399992,
          -0.9210814656316858,
          1.3314824022336058,
          -0.5180045344786122,
          -0.4334139935936805,
          0.007677940231874861,
          -0.7374040016507706
        ],
        [
          -0.6480940483603366,
          -0.8936325512986617,
          1.3361138689912893,
          -0.7691296618113654,
          0.3792482754973118,
          -0.18053344407429603,
          -0.4816824518548743
        ],
        [
          -0.668794546767279,
          -0.8744896993044285,
          1.3047284987108376,
          -0.07445914271451726,
          -0.05712743955669297,
          -0.9057123587280262,
          0.4133732151013549
        ],
        [
          -0.6641416573802389,
          -0.8274276936140817,
          1.2904625167693893,
          -0.11510467496318189,
          0.1008207038584703,
          -0.4077459559216921,
          -0.9001829452420262
        ],
        [
          -0.6690361249518977,
          -0.955412765390845,
          1.3445955330017847,
          0.2361380486538457,
          0.7792124394806548,
          0.5579979155794167,
          -0.1603281707797729
        ],
        [
          -0.7163019747934911,
          -0.9421250505721469,
          1.3351416410175856,
          -0.5498352168918766,
          0.16953728319893072,
          -0.22961578772627894,
          -0.7849935884437718
        ],
        [
          -0.7336956749066614,
          -0.9554749429941405,
          1.326257860498893,
          0.20896817726232725,
          -0.5392609365966149,
          -0.3495258073008208,
          0.7371306893511573
        ],
        [
          -0.7414155240887491,
          -0.9719410243520961,
          1.3403975950550653,
          -0.2941000509398499,
          0.05029077299681299,
          -0.41593848472528455,
          0.8590524868207968
        ],
        [
          -0.6535750244060732,
          -0.93958301561283,
          1.296276364402487,
          -0.10248439869252321,
          -0.5624127182715652,
          -0.5994230679981856,
          -0.5602507187881729
        ],
        [
          -0.6349316287790654,
          -0.9369245335344694,
          1.3048703316198962,
          0.8959772729801474,
          0.0362780608485878,
          0.32437350130333154,
          -0.3011485684115779
        ],
        [
          -0.6300761895735845,
          -0.9450102745656136,
          1.2752342809029207,
          0.4043776066507442,
          0.239485371444068,
          0.86267208606653,
          -0.18687530608760144
        ],
        [
          -0.6000372691363972,
          -0.9195367287703712,
          1.290359181166923,
          0.16677591837993264,
          0.28001701721855793,
          -0.3464593754741536,
          -0.8796261502835234
        ],
        [
          -0.5511473117220214,
          -0.9124835112907901,
          1.2905147035326696,
          0.05346029799483041,
          -0.6081773737958094,
          0.657021044729097,
          -0.44225063631861816
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6676561042054824,
            -0.8376506631053278,
            1.2498581575791092
          ],
          "distance_m": -0.0003180665369333386,
          "contact_frame": [
            -0.14608938976555935,
            0.14538326914521585,
            0.9785303241344011,
            0.02146703144510301,
            0.9893754115868504,
            -0.14378964325807758,
            -0.9890384505967709,
            0.0,
            -0.1476581973381043
          ],
          "force_torque_contact_frame": [
            1.3499545519047147,
            -0.3369896953749079,
            0.05296356102611127,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7629675888580612,
            -0.9466533407227142,
            1.2551644651463987
          ],
          "distance_m": -0.0002750132655593399,
          "contact_frame": [
            -0.08616915108630115,
            0.14932539282631116,
            0.9850262963283437,
            0.013013144273807821,
            0.9887881102932355,
            -0.14875728896037735,
            -0.9961955307454331,
            -1.734723475976807e-18,
            -0.08714622494878783
          ],
          "force_torque_contact_frame": [
            2.465605991677755,
            -0.11784994379193514,
            -0.4591555971073988,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6353653997990961,
            -0.9412300693150619,
            1.270256576994367
          ],
          "distance_m": -0.00030698378930070264,
          "contact_frame": [
            -0.1432939163867498,
            0.14798740455500234,
            0.9785533105659707,
            0.02144178500118433,
            0.9889892456913139,
            -0.14642582341543758,
            -0.989447878052457,
            -3.469446951953614e-18,
            -0.14488925639083752
          ],
          "force_torque_contact_frame": [
            3.293817041816684,
            -0.6109768768526327,
            -0.5031207760680952,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 150,
      "physics_step": 1000,
      "sim_time_s": 4.999999999999916,
      "qpos": [
        -0.661605752715771,
        -0.928957508584943,
        1.3101402381803717,
        0.7994354331446143,
        0.43586348050985707,
        -0.3665744861856661,
        -0.19117834780234122,
        -0.26533282555923954,
        -0.1273895503313266,
        0.39087881438753713,
        -0.3255950823792844,
        -0.12877720506207452,
        1.0499659496455591,
        0.6769186792396253,
        -2.9768441316665366,
        0.4403331169144741,
        -0.5336269457223389,
        0.3926882510727623,
        1.572857067865571,
        0.9165516366592323,
        0.4518952604035483
      ],
      "qvel": [
        -0.0022673610210094414,
        0.002369085112140187,
        -0.0006907476638010115,
        0.004010296223255629,
        0.012421692983670742,
        0.004629130307072829,
        -0.004503926077015676,
        0.028656783088722156,
        -0.038849707398641777,
        0.005514260432142301,
        -0.013064093773181287,
        -7.331602310020515e-05,
        0.007243424448249792,
        2.417199137717662e-05,
        -7.530017744531884e-05,
        2.4437033985767064e-06,
        5.434088512696038e-05,
        1.737920723658482e-05,
        0.008379881610903254,
        -0.0007349277792462002
      ],
      "target_rad": [
        -0.9621246457099915,
        -0.4524866044521332,
        0.1744304895401001,
        -0.2950778305530548,
        -0.2023390531539917,
        1.5878986120224,
        0.6842294931411743,
        -4.5931620597839355,
        1.1415098905563354,
        -3.937615394592285,
        2.0749893188476562,
        1.9739534854888916,
        0.9933946132659912,
        0.4655190706253052
      ],
      "policy_call": 250,
      "body_poses": [
        [
          -0.661605752715771,
          -0.928957508584943,
          1.3101402381803717,
          0.7994354331446143,
          0.43586348050985707,
          -0.3665744861856661,
          -0.19117834780234122
        ],
        [
          -0.6541360209733227,
          -0.9203536213490142,
          1.325548879656092,
          -0.026491352517940756,
          -0.6374215414973614,
          -0.5189797210591928,
          -0.5689042413326006
        ],
        [
          -0.6343071658800395,
          -0.920983153699314,
          1.3314582108119424,
          -0.5174694216350917,
          -0.4333639036057573,
          0.007733292769587296,
          -0.7378084581428741
        ],
        [
          -0.6482105211231519,
          -0.8935525988680677,
          1.3360962464558128,
          -0.7693172343240364,
          0.37940676674493434,
          -0.17974762662466998,
          -0.48155195881957613
        ],
        [
          -0.6688682472430756,
          -0.8743962676833209,
          1.3046909250674792,
          -0.07523035559622032,
          -0.057431388770740416,
          -0.9057830488890919,
          0.41303643607545454
        ],
        [
          -0.6641983121925761,
          -0.8273246712055964,
          1.2904622037031963,
          -0.1155941912664225,
          0.10165092716444503,
          -0.40733989853150343,
          -0.9002106859043701
        ],
        [
          -0.6691008417252402,
          -0.9553324789538209,
          1.344572610172887,
          0.23617197422877756,
          0.7790699727028736,
          0.5581897460376078,
          -0.16030278737469894
        ],
        [
          -0.7163736313229604,
          -0.9420677783530855,
          1.3351210980387076,
          -0.5495331546022902,
          0.16954729623710377,
          -0.22962556345037916,
          -0.7852000553627341
        ],
        [
          -0.7337597575944043,
          -0.9554301899507347,
          1.3262413144164324,
          0.20873536489392344,
          -0.5390667170149731,
          -0.3496811834060099,
          0.7372650079998869
        ],
        [
          -0.7414651563736113,
          -0.9719011996109413,
          1.3403831908982426,
          -0.29435751310297287,
          0.05052999301616916,
          -0.41593571833645404,
          0.8589516007887512
        ],
        [
          -0.6536501029440995,
          -0.9394967919472723,
          1.296252072609677,
          -0.10234149295773659,
          -0.5622838128203336,
          -0.5995690838225217,
          -0.5602499856168076
        ],
        [
          -0.6350074869857977,
          -0.9368291251782584,
          1.3048448849688972,
          0.8960408563322826,
          0.03617856558579759,
          0.3244034154171364,
          -0.3009390623384772
        ],
        [
          -0.6301498550546747,
          -0.9449133915181864,
          1.2752087912693753,
          0.40440139598061037,
          0.23926722778621884,
          0.8627383447251706,
          -0.186797358592955
        ],
        [
          -0.6001223084144294,
          -0.9194249964873938,
          1.2903312595180496,
          0.16709876771148238,
          0.2800342733395573,
          -0.34643115911181765,
          -0.8795704972206229
        ],
        [
          -0.5512366671264564,
          -0.912341722716369,
          1.290477233996439,
          0.053484021483453124,
          -0.6084301983261221,
          0.6567944514964063,
          -0.44223659018033423
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6677652214530597,
            -0.8376956254365124,
            1.249851118440931
          ],
          "distance_m": -0.0003138784015694307,
          "contact_frame": [
            -0.1461036904820873,
            0.14537346214468838,
            0.9785296460156848,
            0.021467653363033915,
            0.9893768526219252,
            -0.1437796347019207,
            -0.9890363246547617,
            3.469446951953614e-18,
            -0.14767243653912177
          ],
          "force_torque_contact_frame": [
            1.3341861276645393,
            -0.311436422421934,
            0.001245097547218299,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7630498750886103,
            -0.9466307668029716,
            1.2551539808023169
          ],
          "distance_m": -0.00027517920473969505,
          "contact_frame": [
            -0.08616620979831645,
            0.14932618442423748,
            0.9850264336221091,
            0.013012770640308499,
            0.9887879907469035,
            -0.14875811626584987,
            -0.9961957900379097,
            0.0,
            -0.08714326084525847
          ],
          "force_torque_contact_frame": [
            2.497245444283256,
            -0.18576995084439185,
            -0.4034270323207417,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6354411667768437,
            -0.9411358778802636,
            1.2702312589716853
          ],
          "distance_m": -0.00030694171307348977,
          "contact_frame": [
            -0.1432939562559038,
            0.1479873674436768,
            0.9785533103401272,
            0.02144178546957614,
            0.9889892512444662,
            -0.14642578583974367,
            -0.9894478722683714,
            3.469446951953614e-18,
            -0.14488929589031824
          ],
          "force_torque_contact_frame": [
            3.2565200323589147,
            -0.5355292818199071,
            -0.5139487711219861,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 151,
      "physics_step": 1007,
      "sim_time_s": 5.034999999999915,
      "qpos": [
        -0.6616792073864534,
        -0.9288989664015758,
        1.3101266634575504,
        0.7993827261655316,
        0.4360829740728789,
        -0.3664081564314597,
        -0.19121704874936227,
        -0.2654306783156669,
        -0.1272076350798908,
        0.38979928639256706,
        -0.328004659891731,
        -0.13507619749983626,
        1.05003243072359,
        0.6770531493577508,
        -2.9764254514662865,
        0.44031321408857016,
        -0.5336266359847739,
        0.39267531600066324,
        1.572743340974694,
        0.9296628053582336,
        0.4524510784956689
      ],
      "qvel": [
        -0.002050174560730525,
        0.0012410923788597416,
        -0.000248179681346562,
        0.013087635352223207,
        0.008114456497906672,
        -0.01723660231961275,
        -0.0011596754524392724,
        0.00031319730622526127,
        -0.028158736143425837,
        -0.10342302464755768,
        -0.273184410794197,
        0.002256967846051458,
        0.001915007564104089,
        0.012737985301385753,
        -0.0010160637088695477,
        0.00011330209379102256,
        -0.0005339152616084038,
        -0.0020016381572671316,
        0.571291464823229,
        0.020864777394449596
      ],
      "target_rad": [
        -0.9548777937889099,
        -0.44822970032691956,
        0.1856212615966797,
        -0.2989834249019623,
        -0.2081664800643921,
        1.5987671613693237,
        0.6825518608093262,
        -4.564061641693115,
        1.1330087184906006,
        -3.9208688735961914,
        2.071523904800415,
        1.9913911819458008,
        0.9984303712844849,
        0.46425193548202515
      ],
      "policy_call": 251,
      "body_poses": [
        [
          -0.6616792073864534,
          -0.9288989664015758,
          1.3101266634575504,
          0.7993827261655316,
          0.4360829740728789,
          -0.3664081564314597,
          -0.19121704874936227
        ],
        [
          -0.6542086719957321,
          -0.920300940070094,
          1.3255381865548672,
          -0.026253742192504162,
          -0.6373948851858572,
          -0.5189455298614306,
          -0.5689763074123892
        ],
        [
          -0.6343789302570293,
          -0.9209278044875433,
          1.331444825495795,
          -0.5172175255689607,
          -0.433516839469811,
          0.007838212608357056,
          -0.7378941276114988
        ],
        [
          -0.6482923016720565,
          -0.8935048833165063,
          1.3360979416897665,
          -0.7695846563840169,
          0.37932374441873007,
          -0.1793597109846753,
          -0.48133465245496654
        ],
        [
          -0.668919318843967,
          -0.8743221281832311,
          1.3046885648653768,
          -0.07499974756766026,
          -0.05667243994529339,
          -0.9059425067554208,
          0.4128334371985141
        ],
        [
          -0.6643223086888987,
          -0.8272389615797674,
          1.290474384613787,
          -0.11768236616784737,
          0.10268955434079183,
          -0.4068307564991146,
          -0.9000524716308407
        ],
        [
          -0.6691622920880522,
          -0.9552924432048777,
          1.3445474636782346,
          0.23595537677658424,
          0.7790695471493432,
          0.5583111351780361,
          -0.16020105246518127
        ],
        [
          -0.7164386423826538,
          -0.9420310695542343,
          1.3351091019708112,
          -0.5494396459383698,
          0.16936133842412265,
          -0.2294690700027378,
          -0.785351359857732
        ],
        [
          -0.7338229194296538,
          -0.9553940297254196,
          1.326226523818807,
          0.2086464724861716,
          -0.5389609219047261,
          -0.3498015327397345,
          0.7373104243611498
        ],
        [
          -0.7415211816097383,
          -0.9718690937570004,
          1.3403675642530182,
          -0.29448402671002794,
          0.050633616484914656,
          -0.4159802720255022,
          0.8588805552461277
        ],
        [
          -0.6537236592953501,
          -0.9394296776694877,
          1.2962319387477184,
          -0.10208815290636708,
          -0.5622913939828834,
          -0.5995040374151277,
          -0.5603581947396811
        ],
        [
          -0.6350801171197352,
          -0.9367620412102832,
          1.3048227507505263,
          0.8960349439160211,
          0.03633261579043568,
          0.32456070476549537,
          -0.3007684644928108
        ],
        [
          -0.6302261141649923,
          -0.9448309889797257,
          1.2751818881245947,
          0.4042751488865527,
          0.2392065723848304,
          0.8628589998847395,
          -0.18659090556231445
        ],
        [
          -0.6002021419339595,
          -0.9193403614750492,
          1.2903076900966555,
          0.1729695404502895,
          0.27773690882553115,
          -0.3480183494039467,
          -0.8785368381750464
        ],
        [
          -0.5513765357957376,
          -0.9118572381313851,
          1.2900565919908291,
          0.05081747746486389,
          -0.6126759257316476,
          0.6529729305132488,
          -0.44234844413642616
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6680473384198015,
            -0.83755046118199,
            1.2497778536712258
          ],
          "distance_m": -0.0003334463071400213,
          "contact_frame": [
            -0.14329557228333784,
            0.1479875317956371,
            0.9785530488415158,
            0.02144205163007679,
            0.9889892266516533,
            -0.1464259129691798,
            -0.98944763246262,
            -3.469446951953614e-18,
            -0.14489093351247406
          ],
          "force_torque_contact_frame": [
            1.348763819541015,
            -0.38811339205542,
            -0.015918925650454885,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7631214309381997,
            -0.9465978315255441,
            1.2551430257728333
          ],
          "distance_m": -0.00027498015456318834,
          "contact_frame": [
            -0.08616566690998122,
            0.14932634053264263,
            0.9850264574462392,
            0.013012702567597642,
            0.9887879671714908,
            -0.14875827892510046,
            -0.9961958378842212,
            1.734723475976807e-18,
            -0.08714271387875519
          ],
          "force_torque_contact_frame": [
            2.464096700817462,
            -0.18304186741546802,
            -0.38158488312742245,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6355191580050343,
            -0.9410521267447483,
            1.2702071444380805
          ],
          "distance_m": -0.00030699686246896883,
          "contact_frame": [
            -0.1432942474869316,
            0.14798709636032367,
            0.9785533086899223,
            0.021441788891326006,
            0.9889892918079752,
            -0.14642551136430954,
            -0.9894478300174769,
            -3.469446951953614e-18,
            -0.1448895844210556
          ],
          "force_torque_contact_frame": [
            3.2810640885735243,
            -0.49164814011496594,
            -0.503774222878431,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 152,
      "physics_step": 1013,
      "sim_time_s": 5.064999999999914,
      "qpos": [
        -0.6617408386472527,
        -0.9288645260931678,
        1.31011906126108,
        0.799292790977415,
        0.4363715003278019,
        -0.3662311511024837,
        -0.19127386636796126,
        -0.2654411673987994,
        -0.12721548386799317,
        0.3889666104821877,
        -0.33162839292498514,
        -0.14498640492608594,
        1.0500808225632545,
        0.6770958838770795,
        -2.9761390666786913,
        0.4402786784631287,
        -0.5336216143525926,
        0.39264625210275445,
        1.5727150295364232,
        0.94938985798219,
        0.4527235079657029
      ],
      "qvel": [
        -0.0020608860784086178,
        0.0011475513419017184,
        -0.00027035654170819916,
        0.014529830045516392,
        0.009936861046680064,
        -0.01511196818853362,
        0.0001180590415204461,
        -0.00025560516754688967,
        -0.027633225876307815,
        -0.1286766705159234,
        -0.3578530205672501,
        0.0011252008762340714,
        0.0010489017180846214,
        0.007569723494302779,
        -0.0011716555956042404,
        0.00017880159882119152,
        -0.0012874800690181813,
        -0.0004359609827078237,
        0.6795508675265182,
        0.002136261974321548
      ],
      "target_rad": [
        -0.9445781707763672,
        -0.4432476758956909,
        0.18885129690170288,
        -0.3036096394062042,
        -0.21587646007537842,
        1.5926443338394165,
        0.681342363357544,
        -4.537184715270996,
        1.1241447925567627,
        -3.887836217880249,
        2.05657696723938,
        1.991722822189331,
        0.9917699694633484,
        0.45388686656951904
      ],
      "policy_call": 253,
      "body_poses": [
        [
          -0.6617408386472527,
          -0.9288645260931678,
          1.31011906126108,
          0.799292790977415,
          0.4363715003278019,
          -0.3662311511024837,
          -0.19127386636796126
        ],
        [
          -0.6542699616970983,
          -0.9202747067829682,
          1.325534994635799,
          -0.02594087591109457,
          -0.6373826838382864,
          -0.5188429165045207,
          -0.5690978942968883
        ],
        [
          -0.6344391785624846,
          -0.9209005133947136,
          1.3314382485141796,
          -0.5169918814720278,
          -0.4337391196570433,
          0.007981210198034543,
          -0.7379200978797918
        ],
        [
          -0.6483583950229737,
          -0.8934838898988716,
          1.3361109532141682,
          -0.7698342540187483,
          0.37913788770927476,
          -0.17906263595464034,
          -0.4811925351122186
        ],
        [
          -0.6689647070032443,
          -0.8742726305236294,
          1.3047054074586981,
          -0.07438555420371232,
          -0.05529154198853886,
          -0.9061643779650885,
          0.4126448288994801
        ],
        [
          -0.6644963397096042,
          -0.8271746742079195,
          1.2904992044257757,
          -0.12077955555071516,
          0.10407793297174671,
          -0.40617329966407595,
          -0.8997796027190759
        ],
        [
          -0.6692121920475096,
          -0.9552821375598665,
          1.3445238915180806,
          0.23568204521880032,
          0.7790799052591206,
          0.5584563938905273,
          -0.16004665227899073
        ],
        [
          -0.7164924197258212,
          -0.9420240945914392,
          1.3351002846006443,
          -0.5493843921633988,
          0.16914989762300406,
          -0.2292362743510635,
          -0.7855035533357088
        ],
        [
          -0.7338749067122683,
          -0.9553853866166208,
          1.3262116958941164,
          0.20865566589335321,
          -0.5388455635925808,
          -0.3500112344347102,
          0.7372926199662426
        ],
        [
          -0.7415674724372219,
          -0.9718680184493874,
          1.3403470162100037,
          -0.29458699349638934,
          0.05067431675538814,
          -0.41614550757414565,
          0.8587627922831718
        ],
        [
          -0.6537849306902828,
          -0.9393843023052103,
          1.296216261649895,
          -0.10179000412849382,
          -0.5622976697657368,
          -0.5993963532086567,
          -0.5605213086009383
        ],
        [
          -0.6351406588067438,
          -0.9367178212766537,
          1.304805848651435,
          0.8960287563991178,
          0.036557693825537904,
          0.324735006773393,
          -0.3005714193064509
        ],
        [
          -0.6302898560784165,
          -0.9447668510292364,
          1.2751590472568006,
          0.4041445958563118,
          0.23921429422230572,
          0.8629812417647673,
          -0.18629826473159677
        ],
        [
          -0.6002690816801858,
          -0.9192785979276614,
          1.2902951941499365,
          0.1816754618934669,
          0.2743084044900208,
          -0.35042088554765805,
          -0.8769002957827824
        ],
        [
          -0.5515435640571997,
          -0.9112094382127942,
          1.2894510413983307,
          0.0466969280305592,
          -0.6190995923752834,
          0.6470516184346451,
          -0.44255993347158584
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6680623226472455,
            -0.837432390415528,
            1.2497646039877797
          ],
          "distance_m": -0.00032013740161099003,
          "contact_frame": [
            -0.1432948335993832,
            0.14798655079520634,
            0.9785533053684213,
            0.021441795777153383,
            0.9889893734432831,
            -0.14642495897255026,
            -0.989447744985846,
            3.469446951953614e-18,
            -0.14489016509902963
          ],
          "force_torque_contact_frame": [
            1.3491560099031519,
            -0.40894062063728,
            -0.018675247818810248,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7631805880368497,
            -0.946570413038452,
            1.2551339417823264
          ],
          "distance_m": -0.0002748125266974621,
          "contact_frame": [
            -0.08616801434327652,
            0.1493257452702434,
            0.9850263423399515,
            0.013013004018703802,
            0.9887880570675832,
            -0.14875765501957475,
            -0.9961956309031604,
            -1.734723475976807e-18,
            -0.08714508000715765
          ],
          "force_torque_contact_frame": [
            2.4590434841498885,
            -0.16026491552052935,
            -0.3878625340032051,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6355845609601612,
            -0.9409858652043264,
            1.2701875604023536
          ],
          "distance_m": -0.00030696945752660496,
          "contact_frame": [
            -0.1432946620017922,
            0.14798671052082155,
            0.9785533063410591,
            0.021441793761115734,
            0.9889893495428688,
            -0.14642512069682312,
            -0.9894477698808047,
            -3.469446951953614e-18,
            -0.1448899950924911
          ],
          "force_torque_contact_frame": [
            3.295483519502418,
            -0.4994608602805939,
            -0.4975452431272287,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 153,
      "physics_step": 1020,
      "sim_time_s": 5.0999999999999135,
      "qpos": [
        -0.6618131525959309,
        -0.9288223816205683,
        1.3101084989923557,
        0.7992081937996004,
        0.4366892773526416,
        -0.36603080002742744,
        -0.19128562789736897,
        -0.2654284095197823,
        -0.12721212545796615,
        0.3879888178911116,
        -0.336169957228039,
        -0.15767835993972723,
        1.0501015359525152,
        0.6771168588592839,
        -2.975958617020689,
        0.44024346333578357,
        -0.5336165040805261,
        0.392599667634501,
        1.5727124501094436,
        0.9712089946497738,
        0.4527220521008505
      ],
      "qvel": [
        -0.002063757493539284,
        0.0012489434617684628,
        -0.0003241035019694387,
        0.013858255391159504,
        0.010798969855737396,
        -0.011815176492905363,
        0.000410206559344047,
        0.00034828003085231123,
        -0.02845126658351416,
        -0.12792850727785807,
        -0.3550574289187954,
        0.00027622268858422654,
        0.0004127454821591957,
        0.003631873565933216,
        -0.0008686056910305759,
        0.00011660257192811582,
        -0.0012264906122192558,
        8.783013962235035e-05,
        0.5601119696450502,
        -0.0008515010708686296
      ],
      "target_rad": [
        -0.9396463632583618,
        -0.4401540458202362,
        0.18645095825195312,
        -0.30984747409820557,
        -0.22023165225982666,
        1.5917744636535645,
        0.6793620586395264,
        -4.529822826385498,
        1.1205639839172363,
        -3.873425006866455,
        2.052819013595581,
        1.9939460754394531,
        0.9852638840675354,
        0.4501940608024597
      ],
      "policy_call": 255,
      "body_poses": [
        [
          -0.6618131525959309,
          -0.9288223816205683,
          1.3101084989923557,
          0.7992081937996004,
          0.4366892773526416,
          -0.36603080002742744,
          -0.19128562789736897
        ],
        [
          -0.6543430694335814,
          -0.9202401847231657,
          1.3255290616916153,
          -0.02558508280586628,
          -0.6373439598855826,
          -0.5187644988565379,
          -0.5692288424362453
        ],
        [
          -0.6345111569590545,
          -0.920863004636085,
          1.331428836514333,
          -0.5167146018183078,
          -0.4339722647708423,
          0.008115432154174443,
          -0.7379757675143305
        ],
        [
          -0.6484393647994876,
          -0.8934544899807597,
          1.3361222735004363,
          -0.7700992985617882,
          0.3789589786866985,
          -0.17870566584306274,
          -0.48104204371651804
        ],
        [
          -0.6690218725304691,
          -0.8742134023143088,
          1.3047193786446107,
          -0.07363586239610057,
          -0.05350983556651609,
          -0.9064166122517653,
          0.41246015844061895
        ],
        [
          -0.6647195040805334,
          -0.8270986327534372,
          1.290517684557391,
          -0.12473075963368657,
          0.10589147931272501,
          -0.40537959635462745,
          -0.899386799474801
        ],
        [
          -0.6692700280861443,
          -0.9552655990760487,
          1.3444967952684965,
          0.23541130148593034,
          0.7790529476484691,
          0.5586578423130855,
          -0.1598731969875526
        ],
        [
          -0.7165560277017943,
          -0.9420173056405698,
          1.335088449962535,
          -0.5492838202241228,
          0.1689497279962808,
          -0.2289845178004467,
          -0.7856903746754659
        ],
        [
          -0.7339350575571425,
          -0.9553788653302813,
          1.3261935058055887,
          0.2086631260586294,
          -0.5386908675353503,
          -0.3502892657049623,
          0.7372715099536472
        ],
        [
          -0.7416198879537571,
          -0.9718715096492395,
          1.3403213529573526,
          -0.2947314352531252,
          0.050729745791665254,
          -0.41636224227547897,
          0.8586048900238582
        ],
        [
          -0.6538555415269038,
          -0.9393300445755254,
          1.2961975160903778,
          -0.10145705514159467,
          -0.5622674853205456,
          -0.5993156125346811,
          -0.5606982588571916
        ],
        [
          -0.635210928286603,
          -0.9366627138093623,
          1.3047860982611135,
          0.8960383974719205,
          0.03677060140996636,
          0.3249102940125635,
          -0.3003271782116501
        ],
        [
          -0.6303623728066403,
          -0.9446910819239428,
          1.2751333274770111,
          0.4040269164146383,
          0.2391911503760797,
          0.863112335512311,
          -0.18597564539673153
        ],
        [
          -0.600347270752168,
          -0.9192029757730691,
          1.2902809668281248,
          0.19131271989762133,
          0.2705157214407365,
          -0.3530523110272043,
          -0.8749712871501114
        ],
        [
          -0.5517484148714821,
          -0.9104916233328761,
          1.288776458353219,
          0.04208566790892167,
          -0.6262471161450498,
          0.6403045054126645,
          -0.44277927506254383
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6680855498065944,
            -0.8372713899694546,
            1.2497390017658359
          ],
          "distance_m": -0.00031593541039131966,
          "contact_frame": [
            -0.14329552952795052,
            0.1479852714374897,
            0.9785533969359448,
            0.021441710394172368,
            0.9889895648779984,
            -0.14642367847380405,
            -0.989447646049389,
            3.469446951953614e-18,
            -0.1448908407295758
          ],
          "force_torque_contact_frame": [
            1.1329137249176138,
            -0.3031739064897735,
            0.1507727185378158,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.763250283512328,
            -0.9465396304731828,
            1.2551233803563717
          ],
          "distance_m": -0.0002747906344613223,
          "contact_frame": [
            -0.08617136849557588,
            0.14932489080769476,
            0.9850261784525678,
            0.013013434395903856,
            0.9887881861072523,
            -0.14875675964457374,
            -0.9961953351511056,
            0.0,
            -0.08714846081932154
          ],
          "force_torque_contact_frame": [
            2.964835088109022,
            -0.36387398876840626,
            -0.5841884581710841,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6356590886734921,
            -0.9409084827041077,
            1.2701650335665857
          ],
          "distance_m": -0.0003067948614931744,
          "contact_frame": [
            -0.1432951057431593,
            0.14798629747854905,
            0.9785533038259322,
            0.021441798974189612,
            0.988989411348064,
            -0.14642470248615855,
            -0.9894477055038365,
            0.0,
            -0.14489043471945537
          ],
          "force_torque_contact_frame": [
            2.4202825990837185,
            -0.09447112031440252,
            -0.18933954384554952,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.535936513442334,
            -0.8965578331696196,
            1.284875533356781
          ],
          "distance_m": -6.498674295006619e-05,
          "contact_frame": [
            -0.2383561515810883,
            0.05710368919624142,
            0.9694975573376308,
            0.013633261631106203,
            0.9983682530410204,
            -0.05545237142917106,
            -0.9710821176299929,
            0.0,
            -0.23874572419050552
          ],
          "force_torque_contact_frame": [
            0.7011753503162941,
            -0.3731908544869683,
            -0.3279844958293258,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 154,
      "physics_step": 1027,
      "sim_time_s": 5.134999999999913,
      "qpos": [
        -0.6618857855968805,
        -0.9288022945980793,
        1.310121663253549,
        0.7988207710469454,
        0.4370099570459397,
        -0.3663899437072082,
        -0.19148389576384575,
        -0.26549996449324914,
        -0.12725735968528679,
        0.38695110127406196,
        -0.3418541824209623,
        -0.16879138209317313,
        1.0500122448766274,
        0.6785433549781377,
        -2.975885742818494,
        0.4402318845358,
        -0.5336042506490839,
        0.3926311691154341,
        1.5730082516476553,
        0.9784260419510934,
        0.45413091041313325
      ],
      "qvel": [
        -0.0018608069769660517,
        0.0007300162575671579,
        -3.3012271218777405e-05,
        0.02042813388319645,
        -0.01914703796867547,
        -0.012916340460790937,
        -0.002289987603931916,
        -0.001052572350152639,
        -0.035144873019649685,
        -0.16151053847995553,
        -0.28841916031882064,
        -0.0005987239514471241,
        0.04314767251623605,
        0.00039803248359593455,
        8.893233553761963e-05,
        -0.00013877300070202264,
        0.0021123461984928343,
        0.004112021740252754,
        0.07033172100287247,
        0.0572841382758841
      ],
      "target_rad": [
        -0.9449414014816284,
        -0.44305968284606934,
        0.18202471733093262,
        -0.31343796849250793,
        -0.21858710050582886,
        1.601938009262085,
        0.6804481744766235,
        -4.547807216644287,
        1.1243870258331299,
        -3.8947277069091797,
        2.0675487518310547,
        2.001612901687622,
        0.9867752194404602,
        0.46027499437332153
      ],
      "policy_call": 256,
      "body_poses": [
        [
          -0.6618857855968805,
          -0.9288022945980793,
          1.310121663253549,
          0.7988207710469454,
          0.4370099570459397,
          -0.3663899437072082,
          -0.19148389576384575
        ],
        [
          -0.6544234909217868,
          -0.9202374069006717,
          1.3255556146890326,
          -0.02569603389231727,
          -0.6372476400035328,
          -0.5183590955147439,
          -0.5697008050277532
        ],
        [
          -0.6345969103116272,
          -0.920875273018348,
          1.331471679946006,
          -0.5167446100872908,
          -0.4338656301425479,
          0.008734072215904373,
          -0.7380103921417853
        ],
        [
          -0.648514001644541,
          -0.8934627872974918,
          1.3361748911293565,
          -0.7707010079929391,
          0.3789023062307541,
          -0.17810787111464188,
          -0.48034423579209784
        ],
        [
          -0.6690224110430365,
          -0.8741693189857821,
          1.3047556596164955,
          -0.07291908041463153,
          -0.05185055009015435,
          -0.9066543713209434,
          0.41227682342263494
        ],
        [
          -0.6648744999574975,
          -0.8270389934283107,
          1.2905596303662712,
          -0.12809292340338257,
          0.10741264412028231,
          -0.40466269324347603,
          -0.8990566342305706
        ],
        [
          -0.6693848008255116,
          -0.955270960370463,
          1.344481205815705,
          0.23525163736553123,
          0.7793454163358957,
          0.558454229698918,
          -0.15939342045534566
        ],
        [
          -0.7166574315551774,
          -0.9419924063256405,
          1.3350483702730174,
          -0.5490668479572551,
          0.16879546924768168,
          -0.22859939835676069,
          -0.7859872779547179
        ],
        [
          -0.7340269202085421,
          -0.9553591379583205,
          1.3261425667163165,
          0.20859723119280543,
          -0.5384819426576464,
          -0.3507719698385565,
          0.737213278329902
        ],
        [
          -0.7416995838532614,
          -0.9718683151236917,
          1.3402577111334804,
          -0.2950637761471917,
          0.05077178965483388,
          -0.41667283184234216,
          0.8583375469973853
        ],
        [
          -0.6539226591004785,
          -0.9393023419580782,
          1.2962080863647658,
          -0.1016065934041479,
          -0.5622513254947494,
          -0.5988774111388179,
          -0.5611554094757257
        ],
        [
          -0.6352834689935896,
          -0.9366526947697038,
          1.3048138961428397,
          0.8960746658613763,
          0.037373813538839694,
          0.3246713066590736,
          -0.3004029525408781
        ],
        [
          -0.6304151321184364,
          -0.9446573462676059,
          1.2751579549089629,
          0.4042486405459581,
          0.23979875983998622,
          0.8629330746606543,
          -0.1855427175953275
        ],
        [
          -0.6003967214711676,
          -0.9192064923226553,
          1.2903615709293292,
          0.19384824307840995,
          0.26963912824001895,
          -0.35374822113740345,
          -0.874402536146539
        ],
        [
          -0.5518344194859434,
          -0.9103226507693157,
          1.2886941822070934,
          0.0412854164126993,
          -0.6276450803618266,
          0.6389198616897753,
          -0.4428753524723911
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6683069365277068,
            -0.8370744878541503,
            1.2496888525061463
          ],
          "distance_m": -0.0002923579220013929,
          "contact_frame": [
            -0.14329858088280834,
            0.1479830627430847,
            0.9785532841180135,
            0.021441839785301703,
            0.9889898953685907,
            -0.14642142727567298,
            -0.9894472013319329,
            0.0,
            -0.14489387763603162
          ],
          "force_torque_contact_frame": [
            1.200468434584118,
            -0.3306162431978452,
            -0.011949793933230424,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.763342619773724,
            -0.9464931692826775,
            1.2550971164114215
          ],
          "distance_m": -0.00029725166885559006,
          "contact_frame": [
            -0.08628226214301479,
            0.1493213055932226,
            0.9850170145410786,
            0.013029861358633118,
            0.9887887275328008,
            -0.14875172273637494,
            -0.996185521854468,
            0.0,
            -0.08726056410281292
          ],
          "force_torque_contact_frame": [
            2.79098196622183,
            -0.2706405885752624,
            -0.5482104362741237,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6357031580340776,
            -0.9408701075935549,
            1.2701711435272285
          ],
          "distance_m": -0.00027084918035259357,
          "contact_frame": [
            -0.14329613797205418,
            0.14798533665786467,
            0.9785532979743885,
            0.021441811098821015,
            0.9889895551188892,
            -0.14642372964292372,
            -0.9894475557497205,
            -3.469446951953614e-18,
            -0.1448914573772502
          ],
          "force_torque_contact_frame": [
            2.7637519052710857,
            -0.3426575397669125,
            -0.3125355129057058,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5360817042174503,
            -0.8963516417769473,
            1.2847757092549008
          ],
          "distance_m": -0.00016579848179762785,
          "contact_frame": [
            -0.23835751398547328,
            0.057104094274687815,
            0.9694971985228904,
            0.013633436584271548,
            0.998368229871658,
            -0.05545274555723171,
            -0.9710817807649199,
            1.734723475976807e-18,
            -0.23874709436228214
          ],
          "force_torque_contact_frame": [
            0.35626136649861617,
            -0.08605159724409023,
            -0.05782663930375996,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 155,
      "physics_step": 1033,
      "sim_time_s": 5.164999999999912,
      "qpos": [
        -0.6619343010301875,
        -0.9287725520908935,
        1.3101105631869148,
        0.7986151286585913,
        0.4372337244531224,
        -0.36649075696435357,
        -0.1916378656168165,
        -0.26554709788271813,
        -0.1272712245177787,
        0.38579587874000865,
        -0.34633071693625694,
        -0.1762860800038266,
        1.0500179051589074,
        0.6797671146586463,
        -2.975895442429462,
        0.4402370856584408,
        -0.5336128578664937,
        0.3926795097208578,
        1.573036469251469,
        0.9792549195573375,
        0.4558411353223308
      ],
      "qvel": [
        -0.0014824304497797894,
        0.0011642198588368694,
        -0.0005239495956704401,
        0.01256105422887443,
        -0.009421505593372013,
        -0.012955073501809957,
        -0.0009771242830612004,
        1.95168901669002e-05,
        -0.03970689087103988,
        -0.13986749354396838,
        -0.22068453385254555,
        0.00037888519640627127,
        0.04026825982748465,
        -0.0003950514710586341,
        0.00021486401847670383,
        -0.00025685469653659445,
        0.0010296223452793047,
        -0.00033977862342690466,
        0.011326378224720497,
        0.05157133843868449
      ],
      "target_rad": [
        -0.9445306062698364,
        -0.4443482756614685,
        0.17428141832351685,
        -0.31582504510879517,
        -0.21727514266967773,
        1.5960732698440552,
        0.6870034337043762,
        -4.551514625549316,
        1.1250931024551392,
        -3.887706995010376,
        2.0652806758880615,
        2.001258373260498,
        0.985185444355011,
        0.4598947763442993
      ],
      "policy_call": 258,
      "body_poses": [
        [
          -0.6619343010301875,
          -0.9287725520908935,
          1.3101105631869148,
          0.7986151286585913,
          0.4372337244531224,
          -0.36649075696435357,
          -0.1916378656168165
        ],
        [
          -0.6544739342782684,
          -0.9202189607391561,
          1.325551709611787,
          -0.0256536671762862,
          -0.6372328705161168,
          -0.5181172299724622,
          -0.5699392021083145
        ],
        [
          -0.6346492143885084,
          -0.9208648437593598,
          1.3314731381908351,
          -0.516709250682487,
          -0.4339067612479369,
          0.009068733111150765,
          -0.7380069314594737
        ],
        [
          -0.6485610290959833,
          -0.8934516748238139,
          1.3361879637927114,
          -0.7711687705159208,
          0.37883285198651845,
          -0.17768954543571353,
          -0.479802900240895
        ],
        [
          -0.6690139947217114,
          -0.8741168268277815,
          1.304758030059197,
          -0.07229854160576188,
          -0.05053291951151451,
          -0.906839853416387,
          0.4121417537487191
        ],
        [
          -0.6649880002109544,
          -0.826974835278444,
          1.290565637697035,
          -0.13016490744540515,
          0.10829827884802269,
          -0.4041774203242257,
          -0.8988710655974753
        ],
        [
          -0.6694489362050873,
          -0.9552603532459601,
          1.3444519421692418,
          0.2350673734147733,
          0.7795093156151565,
          0.5583728148917501,
          -0.15914884986997105
        ],
        [
          -0.7167156874966165,
          -0.9419640402913858,
          1.3350146605607096,
          -0.5487674804560805,
          0.16856337372595254,
          -0.2284106291247846,
          -0.7863009766843938
        ],
        [
          -0.7340784100413369,
          -0.9553389005293912,
          1.3261078672511688,
          0.20854609086604436,
          -0.5381351316823639,
          -0.35115976019478384,
          0.7372963656859021
        ],
        [
          -0.7417326500644968,
          -0.9718624968956923,
          1.3402161404549107,
          -0.29532817320857785,
          0.05101537888169323,
          -0.4169716411679891,
          0.8580870303695984
        ],
        [
          -0.6539701288824867,
          -0.939266072645544,
          1.2961926614639208,
          -0.1015856545314615,
          -0.562280545555819,
          -0.5986249103988222,
          -0.5613992870790524
        ],
        [
          -0.635332592966967,
          -0.9366262164863001,
          1.3048050603432235,
          0.8960770884323771,
          0.03773282894096528,
          0.3246367176458277,
          -0.30038822673801574
        ],
        [
          -0.6304576032326248,
          -0.9446131366368876,
          1.275145431525617,
          0.4042771334102627,
          0.24005435864941094,
          0.8629066735256616,
          -0.18527271002465143
        ],
        [
          -0.600437956851291,
          -0.9191789127045945,
          1.2903744160128257,
          0.1939726283564344,
          0.269644627073784,
          -0.3536350559100976,
          -0.8744190309972669
        ],
        [
          -0.5518783281407837,
          -0.9102814244484725,
          1.2887019441207292,
          0.0417286455380557,
          -0.627212781569212,
          0.639404526851284,
          -0.4427467648892052
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6683090881680852,
            -0.8369620248061811,
            1.2496727369423979
          ],
          "distance_m": -0.0002899952822371577,
          "contact_frame": [
            -0.14330043133430467,
            0.14798134030154372,
            0.9785532736146567,
            0.021441861507151723,
            0.9889901530968641,
            -0.14641968328250618,
            -0.9894469328642698,
            0.0,
            -0.14489571092854903
          ],
          "force_torque_contact_frame": [
            1.2306167222542035,
            -0.32625333915556654,
            -0.03530156819590974,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7634270776560715,
            -0.9464514003786462,
            1.2550817251196686
          ],
          "distance_m": -0.000301003544945151,
          "contact_frame": [
            -0.08628000850465418,
            0.1493219242915677,
            0.9850171181549588,
            0.013029576244604574,
            0.9887886341002626,
            -0.1487523687778541,
            -0.9961857207746568,
            0.0,
            -0.08725829315702412
          ],
          "force_torque_contact_frame": [
            2.712999352120948,
            -0.25413043864572016,
            -0.5466697268499736,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6357433001793226,
            -0.9408216886839638,
            1.2701587514716517
          ],
          "distance_m": -0.00026926674288300895,
          "contact_frame": [
            -0.14329673090617975,
            0.14798478474240287,
            0.9785532946121773,
            0.021441818062607674,
            0.9889896377034213,
            -0.14642317082151085,
            -0.9894474697273079,
            0.0,
            -0.14489204481346815
          ],
          "force_torque_contact_frame": [
            2.897527690560358,
            -0.3969284193965501,
            -0.303531726676067,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5361067842878681,
            -0.8963189361457602,
            1.2847904088487596
          ],
          "distance_m": -0.00012160680478096905,
          "contact_frame": [
            -0.23835670382934407,
            0.05710384865060382,
            0.9694974121723583,
            0.013633331411739972,
            0.9983682439206932,
            -0.055452518475978464,
            -0.971081981098521,
            -1.734723475976807e-18,
            -0.23874627952236652
          ],
          "force_torque_contact_frame": [
            0.2730231790359017,
            -0.05687686548237389,
            -0.0377328131219993,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 156,
      "physics_step": 1040,
      "sim_time_s": 5.199999999999911,
      "qpos": [
        -0.6619829157109308,
        -0.9287242386161688,
        1.3100893579861839,
        0.7984466635841357,
        0.4374083423405728,
        -0.3665641169198152,
        -0.1918009792702607,
        -0.26555184094564954,
        -0.12724624216339436,
        0.38444996942870496,
        -0.3505867684289593,
        -0.1823058935585588,
        1.0500263174589985,
        0.6811581181146501,
        -2.9758940965407077,
        0.4402441831297078,
        -0.5336157064135679,
        0.392687971909303,
        1.5730080935371824,
        0.9794030089186327,
        0.4571049373728152
      ],
      "qvel": [
        -0.0013494684325392147,
        0.0015174761181183409,
        -0.0006348008994709533,
        0.007812491175703747,
        -0.009450422255688212,
        -0.0096004733799533,
        0.00040277701101337326,
        0.0011400133578724151,
        -0.03697938760143872,
        -0.10777030323808313,
        -0.13652324332263335,
        9.506256937387458e-05,
        0.03954684650819744,
        0.0003347685401898258,
        0.00017848108902089593,
        4.674293350951111e-05,
        -0.00020328805433306808,
        -0.000879542972840401,
        0.002578919653008272,
        0.02511753218137424
      ],
      "target_rad": [
        -0.9436737895011902,
        -0.44358325004577637,
        0.1725197434425354,
        -0.3150797188282013,
        -0.21534639596939087,
        1.593421220779419,
        0.6878276467323303,
        -4.546868801116943,
        1.1274746656417847,
        -3.883835554122925,
        2.063279151916504,
        2.0012598037719727,
        0.983088493347168,
        0.4599796533584595
      ],
      "policy_call": 260,
      "body_poses": [
        [
          -0.6619829157109308,
          -0.9287242386161688,
          1.3100893579861839,
          0.7984466635841357,
          0.4374083423405728,
          -0.3665641169198152,
          -0.1918009792702607
        ],
        [
          -0.654522862952068,
          -0.9201805910989203,
          1.325536160242185,
          -0.02560726233088064,
          -0.6372589305241226,
          -0.5178858423484083,
          -0.5701224235883456
        ],
        [
          -0.6346993044207025,
          -0.9208346654641048,
          1.3314605769964603,
          -0.5166835097477515,
          -0.43397642464520353,
          0.009363474983794438,
          -0.7379803106744376
        ],
        [
          -0.6486052749330267,
          -0.8934206036524838,
          1.3361874363236452,
          -0.7716662134913457,
          0.37876921363061367,
          -0.17728472298124154,
          -0.4792027386806551
        ],
        [
          -0.6689990228331991,
          -0.874042463413677,
          1.3047456868195328,
          -0.07171665611567239,
          -0.04937992481299111,
          -0.9070091690984026,
          0.41201057199115093
        ],
        [
          -0.6650793292738467,
          -0.8268901008981553,
          1.2905579910374265,
          -0.13173703613697324,
          0.10892291198934813,
          -0.40377195227089474,
          -0.8987487764180584
        ],
        [
          -0.6695101362594906,
          -0.9552278483086534,
          1.3444157805544006,
          0.2348915298859841,
          0.7796585364070283,
          0.5582894901069761,
          -0.15896974879380504
        ],
        [
          -0.7167717176842905,
          -0.9419139668662619,
          1.334977375913522,
          -0.5483889570682431,
          0.1682985553203432,
          -0.22830025869636905,
          -0.7866537611439111
        ],
        [
          -0.7341276440593577,
          -0.9552999952143276,
          1.3260741151435553,
          0.20845128375322222,
          -0.5377091191179324,
          -0.35152342065928666,
          0.7374606770852568
        ],
        [
          -0.7417587470353717,
          -0.9718374656394875,
          1.340178665448561,
          -0.29560717593952784,
          0.05137973932136583,
          -0.41724848667597764,
          0.8578346112666079
        ],
        [
          -0.6540191883979634,
          -0.9392126339470492,
          1.296167339071247,
          -0.10156361816132184,
          -0.5623378594447388,
          -0.5983985478531663,
          -0.561587162627773
        ],
        [
          -0.6353824012509182,
          -0.9365820693826464,
          1.3047842001533487,
          0.8960565342534796,
          0.038032431235686476,
          0.3246344466173655,
          -0.3004142101588777
        ],
        [
          -0.6305044297014865,
          -0.9445547949714854,
          1.2751212427780632,
          0.40426136265128687,
          0.24027232170640733,
          0.8628936848460278,
          -0.1850849824863739
        ],
        [
          -0.6004811203455392,
          -0.9191353339813976,
          1.2903676450651764,
          0.1938389179368085,
          0.26969282425939095,
          -0.35348193817739804,
          -0.874495725443201
        ],
        [
          -0.5519200544958976,
          -0.9102442916943109,
          1.288702637378705,
          0.04213024960205322,
          -0.6267356395527454,
          0.6399365109444484,
          -0.4426157951803406
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6683196869042999,
            -0.8368365066137196,
            1.2496504536557052
          ],
          "distance_m": -0.0002934187175221508,
          "contact_frame": [
            -0.1433017984338895,
            0.147980067772538,
            0.9785532658509951,
            0.021441877550658628,
            0.9889903435029258,
            -0.14641839483161778,
            -0.9894467345202146,
            0.0,
            -0.14489706535083632
          ],
          "force_torque_contact_frame": [
            1.2485127686419626,
            -0.29961315246151243,
            -0.03925671129770952,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7635227691107399,
            -0.9464027651883784,
            1.2550681172645748
          ],
          "distance_m": -0.0002973153010844294,
          "contact_frame": [
            -0.08627151907630734,
            0.14932420829056747,
            0.9850175154862281,
            0.013028498036505775,
            0.9887882891794356,
            -0.14875475595932233,
            -0.9961864701124881,
            0.0,
            -0.0872497379068894
          ],
          "force_torque_contact_frame": [
            2.664234201632263,
            -0.2714459697614502,
            -0.5312923835990351,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6357888114333584,
            -0.9407588450021837,
            1.270139035107972
          ],
          "distance_m": -0.0002762106939899262,
          "contact_frame": [
            -0.1432971656362638,
            0.14798438008657952,
            0.9785532921466281,
            0.021441823167932993,
            0.9889896982529145,
            -0.14642276110237892,
            -0.9894474066567907,
            -3.469446951953614e-18,
            -0.14489247551253906
          ],
          "force_torque_contact_frame": [
            2.9781605645055764,
            -0.4094611996820544,
            -0.29276216696939483,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.536119270783423,
            -0.8963524823742541,
            1.2848075023385952
          ],
          "distance_m": -8.634278408989472e-05,
          "contact_frame": [
            -0.23834961031094756,
            0.05711597040465028,
            0.9694984420768064,
            0.013635829090633246,
            0.9983675505167098,
            -0.05546438713513318,
            -0.9710836871401097,
            0.0,
            -0.23873934022353652
          ],
          "force_torque_contact_frame": [
            0.222552920247804,
            -0.05972623658199261,
            -0.053832981495660556,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 157,
      "physics_step": 1047,
      "sim_time_s": 5.234999999999911,
      "qpos": [
        -0.6620296622657664,
        -0.9286660784877884,
        1.3100666760552437,
        0.7983079720804396,
        0.43750928046024634,
        -0.3666690649610737,
        -0.1919474095280955,
        -0.26551888746534275,
        -0.12719088695543868,
        0.3832312520149684,
        -0.35376029906421125,
        -0.18563161040245374,
        1.0500236942637549,
        0.6825351759390744,
        -2.9758729568011324,
        0.44025063049488206,
        -0.533610576771005,
        0.39266963593492826,
        1.5729810139801417,
        0.9794883734249764,
        0.45760086901605995
      ],
      "qvel": [
        -0.001331895991570168,
        0.0017524041843117928,
        -0.0006545422901676981,
        0.005091129193885856,
        -0.010726024853694786,
        -0.006404667429873328,
        0.0012830213986355045,
        0.001853503894966144,
        -0.0332024416093194,
        -0.07887856030353638,
        -0.06754804029838962,
        -0.00015773849785474047,
        0.039033360143177,
        0.0007104965131762863,
        0.0001630403000932857,
        0.0001997438293969898,
        -0.0006736513336683133,
        -0.0006826741450449592,
        0.0024622040962024878,
        0.007336349470322093
      ],
      "target_rad": [
        -0.9434078931808472,
        -0.44338059425354004,
        0.17201894521713257,
        -0.3148439824581146,
        -0.21480023860931396,
        1.5925421714782715,
        0.6880778074264526,
        -4.545259952545166,
        1.1283575296401978,
        -3.8825228214263916,
        2.0626094341278076,
        2.0012025833129883,
        0.9825537204742432,
        0.4601324796676636
      ],
      "policy_call": 261,
      "body_poses": [
        [
          -0.6620296622657664,
          -0.9286660784877884,
          1.3100666760552437,
          0.7983079720804396,
          0.43750928046024634,
          -0.3666690649610737,
          -0.1919474095280955
        ],
        [
          -0.6545697852970375,
          -0.9201301062352801,
          1.3255178058947032,
          -0.02561994991991806,
          -0.6372995747601112,
          -0.5176762292420927,
          -0.5702667725322695
        ],
        [
          -0.6347473920874713,
          -0.9207926700181945,
          1.3314451777135548,
          -0.5166977862132943,
          -0.4340118002039367,
          0.009624013083728778,
          -0.7379461588613249
        ],
        [
          -0.6486465213181992,
          -0.8933766266747446,
          1.3361806580500781,
          -0.7721196217020392,
          0.3787389976966806,
          -0.17693706369181045,
          -0.47862442154421503
        ],
        [
          -0.6689846323327093,
          -0.8739603066041589,
          1.3047264271790484,
          -0.07133078210690032,
          -0.048674351281041195,
          -0.907127805021544,
          0.4119003185337248
        ],
        [
          -0.6651298619310234,
          -0.8268007690621483,
          1.2905447924363969,
          -0.13253980423803402,
          0.10919974501016745,
          -0.4035162556501044,
          -0.8987119935821365
        ],
        [
          -0.6695711378226175,
          -0.9551793904037998,
          1.3443824756222027,
          0.23478101042621646,
          0.7797982350626117,
          0.5581783193722186,
          -0.15883813622454354
        ],
        [
          -0.7168270024639861,
          -0.9418479063111947,
          1.3349402942595479,
          -0.5480160424911689,
          0.168081226515735,
          -0.22825507150774982,
          -0.7869731512550324
        ],
        [
          -0.734176580247055,
          -0.9552458012347851,
          1.3260425108290708,
          0.20831780319783047,
          -0.5373182379171617,
          -0.3518091909820077,
          0.7376470004094181
        ],
        [
          -0.7417855576852385,
          -0.9717941705816545,
          1.340146231412832,
          -0.2958676596771289,
          0.05175317771820735,
          -0.4174428582948536,
          0.8576277727615106
        ],
        [
          -0.6540666272898197,
          -0.939152033739343,
          1.2961424232410261,
          -0.10160329616131218,
          -0.5623978278436759,
          -0.5982040701536937,
          -0.5617271080314953
        ],
        [
          -0.6354305606721526,
          -0.9365302303092159,
          1.3047635117915313,
          0.896029705850263,
          0.038264183600558416,
          0.3246027369730565,
          -0.30049905430279655
        ],
        [
          -0.6305500393223896,
          -0.9444943408902914,
          1.275098659625931,
          0.40426219468876823,
          0.24048446048472183,
          0.862855300835063,
          -0.18498657257116322
        ],
        [
          -0.6005214017501007,
          -0.9190890119456897,
          1.2903581180428836,
          0.19367098481481698,
          0.26972476288220587,
          -0.3534069981966169,
          -0.8745533691860399
        ],
        [
          -0.5519578973494033,
          -0.9102098024021112,
          1.288701109230396,
          0.042306710452570846,
          -0.6264648062567094,
          0.64022956229429,
          -0.44255857955403827
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.668332046595802,
            -0.8367213627891592,
            1.2496296034441157
          ],
          "distance_m": -0.00029660331660239636,
          "contact_frame": [
            -0.143302470025358,
            0.14797944263967341,
            0.9785532620356866,
            0.021441885430878976,
            0.9889904370397379,
            -0.1464177618771625,
            -0.9894466370824657,
            0.0,
            -0.14489773071445794
          ],
          "force_torque_contact_frame": [
            1.2616419090187494,
            -0.27585398967981645,
            -0.0398267213293218,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.763616277205501,
            -0.9463509760585347,
            1.2550542860445184
          ],
          "distance_m": -0.00029349260246236874,
          "contact_frame": [
            -0.08626160024743594,
            0.14932686990507968,
            0.9850179806719789,
            0.013027237615231859,
            0.9887878872257443,
            -0.14875753814770154,
            -0.9961873455343968,
            0.0,
            -0.08723974207396622
          ],
          "force_torque_contact_frame": [
            2.6309390590266,
            -0.28910148372349487,
            -0.5193883725666526,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6358327686378263,
            -0.9406945108266085,
            1.2701197903642922
          ],
          "distance_m": -0.00028223586752103383,
          "contact_frame": [
            -0.1432974581742531,
            0.1479841077851633,
            0.978553290487456,
            0.02144182660306122,
            0.9889897389978469,
            -0.14642248539379152,
            -0.9894473642153597,
            0.0,
            -0.14489276533794765
          ],
          "force_torque_contact_frame": [
            3.0325483394115285,
            -0.4145289727147654,
            -0.28817934939506584,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5361455523956599,
            -0.8963250778755172,
            1.2848099418865047
          ],
          "distance_m": -6.59564521364199e-05,
          "contact_frame": [
            -0.23834937247750018,
            0.057115859308594474,
            0.969498507092725,
            0.013635788874553832,
            0.9983675568724381,
            -0.05546428261798534,
            -0.9710837460803009,
            1.734723475976807e-18,
            -0.2387391004813613
          ],
          "force_torque_contact_frame": [
            0.18709204752330877,
            -0.06655883939250105,
            -0.06692846089093664,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 158,
      "physics_step": 1053,
      "sim_time_s": 5.26499999999991,
      "qpos": [
        -0.662069821589486,
        -0.9286112159381119,
        1.310046866489623,
        0.7982059299966207,
        0.437555755599458,
        -0.36677732067632307,
        -0.19205897817471554,
        -0.26547127784859775,
        -0.127127858628384,
        0.38228642256473294,
        -0.35578116359321993,
        -0.18692491081874438,
        1.0500177342439314,
        0.6836816384550117,
        -2.9758507737717386,
        0.440254578548345,
        -0.5336038582271541,
        0.39264737101777963,
        1.5729629286983944,
        0.9795646816904469,
        0.4577088604051157
      ],
      "qvel": [
        -0.0013467565775978165,
        0.0018755796017006984,
        -0.000664777317374592,
        0.0034578609190224338,
        -0.010905705967850614,
        -0.004474709507676135,
        0.0017834280277800145,
        0.0022660691886623964,
        -0.030345301992295175,
        -0.05977843994584414,
        -0.027942385397246337,
        -0.00021788391390619713,
        0.03743217369015954,
        0.0007519888658059956,
        0.00011401611540277489,
        0.00023234100985648984,
        -0.0007761088967145627,
        -0.0005635830082073824,
        0.0026051525587652735,
        0.002600895553633532
      ],
      "target_rad": [
        -0.9429731369018555,
        -0.4430661201477051,
        0.17137908935546875,
        -0.31446829438209534,
        -0.2141377329826355,
        1.591228723526001,
        0.6884352564811707,
        -4.542697906494141,
        1.1296577453613281,
        -3.8803210258483887,
        2.0614938735961914,
        2.0009706020355225,
        0.9816657900810242,
        0.4602322578430176
      ],
      "policy_call": 263,
      "body_poses": [
        [
          -0.662069821589486,
          -0.9286112159381119,
          1.310046866489623,
          0.7982059299966207,
          0.437555755599458,
          -0.36677732067632307,
          -0.19205897817471554
        ],
        [
          -0.6546101671354354,
          -0.9200804656022746,
          1.3255009874330406,
          -0.025664156171169655,
          -0.6373385651167377,
          -0.517512232893314,
          -0.5703700494492471
        ],
        [
          -0.6347888080924609,
          -0.9207502880838478,
          1.331431001221614,
          -0.5167305129934353,
          -0.43401982085566015,
          0.009826533946717078,
          -0.7379158565016449
        ],
        [
          -0.648681746897731,
          -0.8933320213791324,
          1.3361717714398498,
          -0.7724746513201234,
          0.378732868234572,
          -0.1766738145458604,
          -0.4781534176814839
        ],
        [
          -0.6689751729844522,
          -0.8738865852001417,
          1.3047066676917038,
          -0.07112719640002395,
          -0.04834712307365449,
          -0.9071991696772712,
          0.41181688182934306
        ],
        [
          -0.6651504689187945,
          -0.8267227407457589,
          1.2905312165492206,
          -0.13280178895317304,
          0.10925017201044417,
          -0.4033814846309372,
          -0.898727691029639
        ],
        [
          -0.6696244279445235,
          -0.9551294210585842,
          1.3443559962113019,
          0.23472587303143908,
          0.7799113824922707,
          0.5580687338575683,
          -0.15874913631020227
        ],
        [
          -0.7168750966807201,
          -0.9417831157765603,
          1.334908751147198,
          -0.5477081709672612,
          0.16792824359237452,
          -0.22824904984158545,
          -0.7872218465630205
        ],
        [
          -0.734219512169791,
          -0.9551913035742994,
          1.326016409558334,
          0.20818627058089215,
          -0.5370122939989431,
          -0.3520096997998343,
          0.7378112523419819
        ],
        [
          -0.7418106432955488,
          -0.9717472877617922,
          1.340120810141664,
          -0.29607659870592407,
          0.05206615963715901,
          -0.4175631550698222,
          0.8574781479708421
        ],
        [
          -0.6541073632676367,
          -0.9390965472773737,
          1.2961218140955129,
          -0.10167239503462822,
          -0.5624461581805263,
          -0.5980582554628373,
          -0.561821471918471
        ],
        [
          -0.6354719781697556,
          -0.9364817677987537,
          1.3047465083238237,
          0.8960068753778845,
          0.0384242748162317,
          0.3245556312059358,
          -0.30059756591317244
        ],
        [
          -0.6305891327290675,
          -0.9444415066044812,
          1.275080865257358,
          0.4042776399500031,
          0.24065946411710532,
          0.8628078249620443,
          -0.1849466662354052
        ],
        [
          -0.6005554830487608,
          -0.919047621874306,
          1.290349505982753,
          0.1935275888641868,
          0.26974368148203187,
          -0.3533893402688525,
          -0.8745864124449225
        ],
        [
          -0.5519896611100314,
          -0.9101798728982696,
          1.2886990613415596,
          0.04235599804958571,
          -0.6263259354705825,
          0.6403671939143708,
          -0.4425512952691
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6683430615268874,
            -0.8366296605688202,
            1.249613034016445
          ],
          "distance_m": -0.0002987334121994406,
          "contact_frame": [
            -0.1433026662743771,
            0.14797925996635403,
            0.978553260920664,
            0.02144188773340871,
            0.988990464372539,
            -0.14641757691827062,
            -0.9894466086096222,
            0.0,
            -0.14489792514359068
          ],
          "force_torque_contact_frame": [
            1.2716703567352345,
            -0.2615480549929566,
            -0.03888228184504067,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7636949530374503,
            -0.9463044248386876,
            1.2550419252400633
          ],
          "distance_m": -0.0002908148260452101,
          "contact_frame": [
            -0.08625282076210179,
            0.14932922304015625,
            0.9850183927505132,
            0.013026121683897524,
            0.9887875318521281,
            -0.1487599980090516,
            -0.9961881203188768,
            0.0,
            -0.08723089438692558
          ],
          "force_torque_contact_frame": [
            2.6055998573211148,
            -0.29806820879664797,
            -0.5082365524017534,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6358702202012977,
            -0.9406388213025967,
            1.270103851945003
          ],
          "distance_m": -0.0002862132431930273,
          "contact_frame": [
            -0.14329763851880198,
            0.14798393991692943,
            0.9785532894643998,
            0.021441828720799815,
            0.9889897641162231,
            -0.14642231542509246,
            -0.9894473380509156,
            0.0,
            -0.14489294401024969
          ],
          "force_torque_contact_frame": [
            3.07423321033787,
            -0.41862120037330897,
            -0.2936474694978023,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5361710847342379,
            -0.896299531185895,
            1.284807930409882
          ],
          "distance_m": -5.477005947097838e-05,
          "contact_frame": [
            -0.23834930656741052,
            0.05711582899773211,
            0.9694985250822905,
            0.01363577784381707,
            0.9983675586064992,
            -0.055464254116432896,
            -0.9710837624126091,
            0.0,
            -0.2387390340488362
          ],
          "force_torque_contact_frame": [
            0.15995318785327672,
            -0.07151991344360034,
            -0.07156398243117644,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 159,
      "physics_step": 1060,
      "sim_time_s": 5.299999999999909,
      "qpos": [
        -0.6620975426382707,
        -0.9285325760056777,
        1.3100463081071045,
        0.7982137869955775,
        0.4374618838040612,
        -0.36676161839980936,
        -0.1922700333841294,
        -0.26542992342441823,
        -0.1270553197872998,
        0.3812622115368612,
        -0.35757848208454435,
        -0.18735953377334413,
        1.0500016920832809,
        0.6850683480006995,
        -2.9758429562828526,
        0.44025993753880505,
        -0.5336156819829421,
        0.39266370453061206,
        1.5729871267127693,
        0.979564026874787,
        0.4580032364454111
      ],
      "qvel": [
        -0.0007327749622067613,
        0.0023367523073526773,
        -3.577216116707141e-05,
        -0.010036421071095475,
        -0.005549012956737042,
        -0.007437454463268553,
        0.0013226167592115012,
        0.0021376524548226724,
        -0.028342141907480186,
        -0.04701556121471729,
        -0.003941461074692609,
        -0.0004313628348386589,
        0.041257261935669365,
        0.0002449966289368435,
        7.015205674908796e-05,
        -0.00042843449998643295,
        0.0006367837324505213,
        0.0008573791591399537,
        -0.0010129151491094525,
        0.009790705651826987
      ],
      "target_rad": [
        -0.9430897831916809,
        -0.4427385926246643,
        0.17009210586547852,
        -0.31430545449256897,
        -0.21305090188980103,
        1.589627742767334,
        0.6884793043136597,
        -4.540174961090088,
        1.1306273937225342,
        -3.877887487411499,
        2.0601861476898193,
        2.0003161430358887,
        0.9798903465270996,
        0.4594327211380005
      ],
      "policy_call": 265,
      "body_poses": [
        [
          -0.6620975426382707,
          -0.9285325760056777,
          1.3100463081071045,
          0.7982137869955775,
          0.4374618838040612,
          -0.36676161839980936,
          -0.1922700333841294
        ],
        [
          -0.6546306822260491,
          -0.9200047927551894,
          1.3254985865286542,
          -0.02569689796305636,
          -0.6375217117145812,
          -0.5173771183381283,
          -0.5702864665654636
        ],
        [
          -0.6348079671951318,
          -0.9206828211633187,
          1.3314231326109134,
          -0.5168462796130715,
          -0.4341279151807989,
          0.009871888711776727,
          -0.7377705756698094
        ],
        [
          -0.6486899394795987,
          -0.8932599637107962,
          1.3361694716877095,
          -0.7727990474605113,
          0.37870279440037535,
          -0.1766214671625131,
          -0.4776721502189912
        ],
        [
          -0.6689467069634646,
          -0.8737883324828557,
          1.3046969466406517,
          -0.07078294792264521,
          -0.04811217659028855,
          -0.9072344070384747,
          0.4118260839634514
        ],
        [
          -0.6651405164966456,
          -0.8266237625318107,
          1.2905189264874966,
          -0.13276646955596252,
          0.10899595061304501,
          -0.40339909754392145,
          -0.8987558708639146
        ],
        [
          -0.6696538329703571,
          -0.955047983113358,
          1.344357229467237,
          0.23462190606004987,
          0.7799959533046694,
          0.5579531238191501,
          -0.15889362997156878
        ],
        [
          -0.7169019434740936,
          -0.9416838958316379,
          1.3349223354586504,
          -0.5472807036694572,
          0.16762348667694152,
          -0.22846660842026323,
          -0.7875209247647148
        ],
        [
          -0.7342447872177424,
          -0.9551058979977212,
          1.3260477866618359,
          0.208066674149018,
          -0.5365024579341791,
          -0.3521079062300157,
          0.7381689468607209
        ],
        [
          -0.7418085703946979,
          -0.9716675414771754,
          1.3401602332715297,
          -0.2962056989364563,
          0.0526669773871809,
          -0.4176824824221036,
          0.8573387412733506
        ],
        [
          -0.6541426676347265,
          -0.9390209461688642,
          1.2961192102400696,
          -0.10170860687781132,
          -0.5626298223026898,
          -0.597963793672325,
          -0.5617315584864537
        ],
        [
          -0.6355041650030524,
          -0.9364132990153227,
          1.3047393260149132,
          0.8959117910390262,
          0.03845041895732889,
          0.3246569514574755,
          -0.3007681695751546
        ],
        [
          -0.6306314215638156,
          -0.9443747242523284,
          1.2750724744871398,
          0.40414111055027946,
          0.24080902966995799,
          0.8628091702179249,
          -0.1850440752373777
        ],
        [
          -0.6005844699054045,
          -0.9189927471755309,
          1.2903347423435247,
          0.193395953428613,
          0.26957749434355327,
          -0.3534109810980991,
          -0.8746580235613051
        ],
        [
          -0.5520155962610508,
          -0.9101437665589671,
          1.2886734010280556,
          0.04226858658729824,
          -0.6261577142301245,
          0.6405897047977249,
          -0.442475664421425
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6683544965792793,
            -0.8365285905951325,
            1.2495990056013409
          ],
          "distance_m": -0.00029299748276097424,
          "contact_frame": [
            -0.14330236177692565,
            0.14797954339997302,
            0.97855326265068,
            0.021441884160809634,
            0.9889904219632946,
            -0.14641786389815595,
            -0.989446652787703,
            0.0,
            -0.14489762346985013
          ],
          "force_torque_contact_frame": [
            1.2281735453515807,
            -0.25627292215515696,
            -0.026420917976029024,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7648964188740565,
            -0.94662321748474,
            1.2549567072054404
          ],
          "distance_m": -0.0003527324323809849,
          "contact_frame": [
            -0.08327865262668542,
            0.14934862814472497,
            0.9852713602292378,
            0.012578626841825567,
            0.9887846010488273,
            -0.14881797900618537,
            -0.9964469098569465,
            1.734723475976807e-18,
            -0.08422324997613208
          ],
          "force_torque_contact_frame": [
            2.6974323209323368,
            -0.2801504830800631,
            -0.5583479921828289,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6359116833820063,
            -0.9405707606548066,
            1.2700922161321084
          ],
          "distance_m": -0.00027695876319889677,
          "contact_frame": [
            -0.1432974243808917,
            0.14798413924086679,
            0.9785532906791241,
            0.021441826206254826,
            0.9889897342910795,
            -0.14642251724308328,
            -0.9894473691181072,
            3.469446951953614e-18,
            -0.14489273185793902
          ],
          "force_torque_contact_frame": [
            2.8540208599926853,
            -0.4389674156974139,
            -0.2650017049344989,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5361915503337996,
            -0.8962711192548849,
            1.2847922513432088
          ],
          "distance_m": -7.217295947772939e-05,
          "contact_frame": [
            -0.23834926165396356,
            0.057115806482741435,
            0.9694985374505919,
            0.013635769881555232,
            0.998367559894564,
            -0.05546423288851331,
            -0.97108377354827,
            0.0,
            -0.2387389887539367
          ],
          "force_torque_contact_frame": [
            0.3183710232221682,
            -0.06689018307629419,
            -0.04968527591920995,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 160,
      "physics_step": 1067,
      "sim_time_s": 5.3349999999999085,
      "qpos": [
        -0.6621333589823397,
        -0.9284559320239513,
        1.3100325674903164,
        0.7981787130689059,
        0.4374093827798841,
        -0.3668158961076724,
        -0.1924314740953576,
        -0.265369577178657,
        -0.12697455407668,
        0.3803366907803964,
        -0.35903953984194487,
        -0.18743714959551336,
        1.0499921209106697,
        0.6864683318241993,
        -2.9758314739838365,
        0.44025810608035376,
        -0.5336222904800197,
        0.39266920277239536,
        1.572999309754316,
        0.9795450342436388,
        0.45830748499855534
      ],
      "qvel": [
        -0.001193797544310928,
        0.0020962766081976843,
        -0.0005710141482984357,
        -0.0011828005975387155,
        -0.008831885374489727,
        -0.004167172190711835,
        0.0019433044347119547,
        0.0023791537699219146,
        -0.025025682159460074,
        -0.0378298828227912,
        -0.0018144048972416635,
        -0.0001924987453632531,
        0.03859195271207279,
        0.00031460831768347845,
        -0.00011885380841335485,
        -3.572800411934485e-05,
        -0.00014074711185236657,
        5.1137983000487157e-05,
        -0.00010250712303261125,
        0.007812073368000453
      ],
      "target_rad": [
        -0.9433919787406921,
        -0.44305652379989624,
        0.1703609824180603,
        -0.31391820311546326,
        -0.21310043334960938,
        1.5899840593338013,
        0.6883442401885986,
        -4.540502071380615,
        1.1308437585830688,
        -3.878976821899414,
        2.0606911182403564,
        2.0002293586730957,
        0.9805805683135986,
        0.46000993251800537
      ],
      "policy_call": 266,
      "body_poses": [
        [
          -0.6621333589823397,
          -0.9284559320239513,
          1.3100325674903164,
          0.7981787130689059,
          0.4374093827798841,
          -0.3668158961076724,
          -0.1924314740953576
        ],
        [
          -0.6546626948393603,
          -0.9199315031432482,
          1.3254848582434908,
          -0.02575469713843649,
          -0.6376442751205422,
          -0.5172319679069006,
          -0.5702784980660425
        ],
        [
          -0.6348397479773463,
          -0.9206175617470659,
          1.3314077039529364,
          -0.5169368953334051,
          -0.4341793734115155,
          0.00998332141653598,
          -0.737675302040497
        ],
        [
          -0.6487125120446864,
          -0.8931908222217113,
          1.3361585329479932,
          -0.7731209397930474,
          0.37869032261273994,
          -0.17649218668311117,
          -0.47720871749454497
        ],
        [
          -0.6689306110164959,
          -0.8736933487158459,
          1.3046771434414262,
          -0.07058124456324891,
          -0.048013658230120826,
          -0.9072699908090393,
          0.4117938080115217
        ],
        [
          -0.6651317592080825,
          -0.8265273771935655,
          1.2905018178614913,
          -0.1327065922496008,
          0.10880776696711142,
          -0.40338160871358275,
          -0.8987953649039203
        ],
        [
          -0.6696974375709324,
          -0.9549701626422646,
          1.3443426819184918,
          0.23456175130799045,
          0.7800942391547946,
          0.5578268188950972,
          -0.15894339552874664
        ],
        [
          -0.7169413904789496,
          -0.9415891601477941,
          1.3349109436975681,
          -0.5468643702567818,
          0.1673901270282669,
          -0.22861050617226636,
          -0.7878179627203069
        ],
        [
          -0.7342803678699822,
          -0.9550252647683531,
          1.3260501907234326,
          0.2079076866876626,
          -0.5360556185942362,
          -0.35225077281529693,
          0.7384701487810881
        ],
        [
          -0.7418189807463873,
          -0.9715933607011725,
          1.3401685303234208,
          -0.2963907198352469,
          0.05318603016763898,
          -0.4177868081770334,
          0.8571919098450466
        ],
        [
          -0.6541829142539558,
          -0.9389465243176008,
          1.2961046135146121,
          -0.1017836265869362,
          -0.5627506765169922,
          -0.5978551716749756,
          -0.5617125271346233
        ],
        [
          -0.6355430962300874,
          -0.9363458324250431,
          1.3047239862131939,
          0.8958511061973073,
          0.0385197669414534,
          0.3246762749148305,
          -0.3009191578933894
        ],
        [
          -0.6306744471597827,
          -0.9443077041054929,
          1.275056582289455,
          0.4040857269534689,
          0.24097005446927666,
          0.8627782847973271,
          -0.18509940411504044
        ],
        [
          -0.6006178370258964,
          -0.9189372462803379,
          1.2903189851609427,
          0.19323102340532264,
          0.2695059496420935,
          -0.35343119166079534,
          -0.8747083556606027
        ],
        [
          -0.5520457437911434,
          -0.9101061078203642,
          1.2886568322512413,
          0.04226446728904283,
          -0.6259467672749551,
          0.6408147785489788,
          -0.4424486172834422
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6683621613964501,
            -0.8364279686553371,
            1.249582400661294
          ],
          "distance_m": -0.00029351720893729355,
          "contact_frame": [
            -0.14330213892684734,
            0.14797975083393747,
            0.9785532639167459,
            0.02144188154600678,
            0.9889903909255772,
            -0.14641807392750814,
            -0.9894466851198996,
            3.469446951953614e-18,
            -0.144897402686323
          ],
          "force_torque_contact_frame": [
            1.2468094344448932,
            -0.25276508426201166,
            -0.01952953732209739,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7649945850928439,
            -0.9465701123468582,
            1.254962560153373
          ],
          "distance_m": -0.000308948936617012,
          "contact_frame": [
            -0.08327247412787829,
            0.14935429176583073,
            0.9852710239237471,
            0.012578181480533995,
            0.9887837455840013,
            -0.14882370046305005,
            -0.9964474318313358,
            0.0,
            -0.08421707425893757
          ],
          "force_torque_contact_frame": [
            2.6608430642554053,
            -0.2859858000789198,
            -0.5259283398628798,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6359535443779615,
            -0.9405017743375321,
            1.2700761964013623
          ],
          "distance_m": -0.0002758960954869053,
          "contact_frame": [
            -0.14329736002152574,
            0.1479841991482921,
            0.9785532910441311,
            0.02144182545055037,
            0.9889897253270322,
            -0.14642257790009544,
            -0.9894473784553727,
            0.0,
            -0.14489266809535475
          ],
          "force_torque_contact_frame": [
            2.939664427201829,
            -0.4324364475433985,
            -0.29300623157541494,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5362139742904203,
            -0.8962411759440824,
            1.2847829981848482
          ],
          "distance_m": -7.600761331235634e-05,
          "contact_frame": [
            -0.23834920289908765,
            0.057115779148785364,
            0.9694985535056754,
            0.013635759973198706,
            0.9983675614583175,
            -0.05546420717657594,
            -0.9710837881085871,
            0.0,
            -0.23873892952905093
          ],
          "force_torque_contact_frame": [
            0.2626061414191915,
            -0.07469846371030264,
            -0.06650117416115325,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 161,
      "physics_step": 1073,
      "sim_time_s": 5.364999999999908,
      "qpos": [
        -0.6621724108967442,
        -0.9283947753662347,
        1.3100132562586018,
        0.7981164712505034,
        0.43740662829113636,
        -0.36690282722121575,
        -0.192530141075892,
        -0.26530706819486494,
        -0.12690171760788743,
        0.37962942041455844,
        -0.3600486562881729,
        -0.18748884310405958,
        1.049987255094417,
        0.6875654402143716,
        -2.975822456035818,
        0.4402535846687378,
        -0.533620214927861,
        0.39265865735550204,
        1.5729957853220258,
        0.9795531717377585,
        0.4584954029517262
      ],
      "qvel": [
        -0.0013600093856038493,
        0.0020095373736877427,
        -0.0006709563295294575,
        0.0010582727636293714,
        -0.00906143541857498,
        -0.0030319764669915453,
        0.002157225728046026,
        0.0024727047930976805,
        -0.0226027079258752,
        -0.0307646134350796,
        -0.0016672024607518566,
        -0.0001549762787903712,
        0.035093311860356635,
        0.00030787452480900466,
        -0.0001611945441100596,
        0.00012414572312145227,
        -0.00046754403092626813,
        -0.00019635952189400865,
        0.0004707405705578849,
        0.004927727285702575
      ],
      "target_rad": [
        -0.9430874586105347,
        -0.4430113136768341,
        0.17075276374816895,
        -0.3134080469608307,
        -0.21310412883758545,
        1.5898336172103882,
        0.6883241534233093,
        -4.5396904945373535,
        1.1312319040298462,
        -3.878641128540039,
        2.0603907108306885,
        1.9999573230743408,
        0.9809089303016663,
        0.46010822057724
      ],
      "policy_call": 268,
      "body_poses": [
        [
          -0.6621724108967442,
          -0.9283947753662347,
          1.3100132562586018,
          0.7981164712505034,
          0.43740662829113636,
          -0.36690282722121575,
          -0.192530141075892
        ],
        [
          -0.6547010346904474,
          -0.9198736604941545,
          1.3254670305199527,
          -0.0258076061494089,
          -0.6377010198775048,
          -0.5171026650011084,
          -0.570329913787431
        ],
        [
          -0.6348786503972391,
          -0.9205661013978215,
          1.3313910162160278,
          -0.5169839188679969,
          -0.4341898191512764,
          0.010126491691289631,
          -0.7376342472684523
        ],
        [
          -0.6487453995674088,
          -0.8931369545368181,
          1.336145505665917,
          -0.7733888386954119,
          0.37868442694037713,
          -0.1763224064394927,
          -0.47684192135506137
        ],
        [
          -0.6689301016026199,
          -0.8736177132087146,
          1.3046561756296176,
          -0.07050971508584879,
          -0.04800994728601732,
          -0.9073056589384958,
          0.4117279032301404
        ],
        [
          -0.6651312535120001,
          -0.8264496905401003,
          1.2904876756836994,
          -0.13272946729100418,
          0.10874080846913972,
          -0.40331987651646095,
          -0.8988277934581632
        ],
        [
          -0.6697467009056753,
          -0.9549100943775221,
          1.3443202766894156,
          0.23453310094690366,
          0.7801834103687013,
          0.5577231696323985,
          -0.15891172644233312
        ],
        [
          -0.7169863433561546,
          -0.94151618531598,
          1.3348852684116228,
          -0.5465510157140685,
          0.16724839676447947,
          -0.22866282168372862,
          -0.7880502997786796
        ],
        [
          -0.7343208175118799,
          -0.9549631734485856,
          1.3260322178912622,
          0.20776675287179713,
          -0.5357470567813278,
          -0.352401854566941,
          0.7386616278439233
        ],
        [
          -0.7418413309745627,
          -0.9715372167005347,
          1.3401532294534744,
          -0.29657220812898294,
          0.05353045810061985,
          -0.4178708963426669,
          0.8570667006778485
        ],
        [
          -0.6542233370672149,
          -0.9388861915354538,
          1.2960851403767986,
          -0.10185991032975646,
          -0.5628061407638648,
          -0.5977516246925166,
          -0.5617533282176044
        ],
        [
          -0.6355836696612319,
          -0.9362911312726597,
          1.3047065359266388,
          0.8958241765670746,
          0.038615291928055274,
          0.3246421284731327,
          -0.3010239065716671
        ],
        [
          -0.6307143960879806,
          -0.9442517989138137,
          1.2750389113911975,
          0.4040905109935039,
          0.24111010135364092,
          0.8627353664208117,
          -0.18510663272015349
        ],
        [
          -0.6006524218564554,
          -0.918890608869721,
          1.2903061517856016,
          0.19309080964263053,
          0.2695053326926972,
          -0.35344091755508933,
          -0.8747355787205461
        ],
        [
          -0.5520778764095644,
          -0.9100720431804135,
          1.2886489149855973,
          0.0423003806492779,
          -0.625781843170649,
          0.6409707311616968,
          -0.44245257864421017
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6683663719903498,
            -0.8363433434597509,
            1.249567953535584
          ],
          "distance_m": -0.00029553839538785676,
          "contact_frame": [
            -0.1433020971907657,
            0.14797978968305234,
            0.9785532641538159,
            0.02144188105631928,
            0.9889903851126964,
            -0.1464181132626939,
            -0.9894466911751714,
            -3.469446951953614e-18,
            -0.14489736133727557
          ],
          "force_torque_contact_frame": [
            1.2562531119790208,
            -0.24766411900375973,
            -0.013056118721045007,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7650755237473137,
            -0.946524670453549,
            1.2549547435509194
          ],
          "distance_m": -0.00029726845007766025,
          "contact_frame": [
            -0.08326908151743913,
            0.14935740165034056,
            0.9852708392292452,
            0.012577936902042038,
            0.9887832758356397,
            -0.1488268421052782,
            -0.9964477184310929,
            -1.734723475976807e-18,
            -0.08421368317244933
          ],
          "force_torque_contact_frame": [
            2.6377211482767864,
            -0.29060398803097687,
            -0.5061812037763855,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6359922531326531,
            -0.9404437837134365,
            1.2700600205846468
          ],
          "distance_m": -0.0002792967228585684,
          "contact_frame": [
            -0.14329742481648633,
            0.1479841388356271,
            0.9785532906766199,
            0.021441826211402632,
            0.988989734351716,
            -0.1464225168327678,
            -0.98944736905491,
            -3.469446951953614e-18,
            -0.14489273228949942
          ],
          "force_torque_contact_frame": [
            2.987990077624643,
            -0.4269523812673248,
            -0.30901576328796,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5362395163324953,
            -0.8962124913000679,
            1.2847779295253825
          ],
          "distance_m": -7.038611913734849e-05,
          "contact_frame": [
            -0.2383491559665829,
            0.057115758069313495,
            0.9694985662857811,
            0.013635752239268753,
            0.9983675626642563,
            -0.05546418737078573,
            -0.9710837997366072,
            1.734723475976807e-18,
            -0.23873888223143122
          ],
          "force_torque_contact_frame": [
            0.23116819722664983,
            -0.08168328498755056,
            -0.078858763381146,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 162,
      "physics_step": 1080,
      "sim_time_s": 5.399999999999907,
      "qpos": [
        -0.6622220117590235,
        -0.9283252928097172,
        1.3099896052083009,
        0.7980412218156354,
        0.4374127105389058,
        -0.36700992886325606,
        -0.19262409262032398,
        -0.2652317433252046,
        -0.126804468739793,
        0.37888110247762347,
        -0.3609851288134685,
        -0.18754393304979391,
        1.0499816805434852,
        0.6887102422673199,
        -2.9758109816480096,
        0.4402479003499644,
        -0.5336144107165984,
        0.392639185206261,
        1.5729873435493946,
        0.9795753982945056,
        0.4586067306558896
      ],
      "qvel": [
        -0.0014519932327603953,
        0.0019711271086381575,
        -0.0006732883023484806,
        0.0014258339832274288,
        -0.008403497585442734,
        -0.002274024766306702,
        0.002111106423187865,
        0.0030625096391212973,
        -0.020582406240769905,
        -0.023936544623845705,
        -0.0015057089220541012,
        -0.0001612233114718519,
        0.030898416017716934,
        0.00033721238144008355,
        -0.00016140721229101563,
        0.00018479543469218873,
        -0.0005949411023137339,
        -0.00026244791393536637,
        0.0007381745477300555,
        0.0026374373405572806
      ],
      "target_rad": [
        -0.9425433874130249,
        -0.4426162838935852,
        0.17098277807235718,
        -0.31289228796958923,
        -0.2128123641014099,
        1.589295506477356,
        0.6881805062294006,
        -4.537954807281494,
        1.1318330764770508,
        -3.877417802810669,
        2.0596067905426025,
        1.99967360496521,
        0.9803512096405029,
        0.459797203540802
      ],
      "policy_call": 270,
      "body_poses": [
        [
          -0.6622220117590235,
          -0.9283252928097172,
          1.3099896052083009,
          0.7980412218156354,
          0.4374127105389058,
          -0.36700992886325606,
          -0.19262409262032398
        ],
        [
          -0.6547506123755132,
          -0.9198077771174683,
          1.3254453522845304,
          -0.025867512980652957,
          -0.6377494231563079,
          -0.5169618032684733,
          -0.5704007705091224
        ],
        [
          -0.6349290514103281,
          -0.9205070017010216,
          1.3313712957440313,
          -0.5170213477675231,
          -0.43419069378233216,
          0.010297526052150435,
          -0.7376051303662929
        ],
        [
          -0.6487900977518424,
          -0.8930756657368085,
          1.3361297830600656,
          -0.7736779845800122,
          0.37867979368353605,
          -0.1761144223693566,
          -0.47645325087096657
        ],
        [
          -0.6689382423308657,
          -0.8735328306129894,
          1.3046316759779568,
          -0.07048536506799934,
          -0.04806924454535519,
          -0.9073448472428444,
          0.41163878488539973
        ],
        [
          -0.6651340345591683,
          -0.8263623320490564,
          1.2904728600507775,
          -0.13281693155361385,
          0.10871933026305697,
          -0.40323043429018335,
          -0.8988576009479947
        ],
        [
          -0.6698084325638983,
          -0.9548421206003771,
          1.3442927789031918,
          0.23451187989621808,
          0.7802803629634193,
          0.5576117678634177,
          -0.15885795447962392
        ],
        [
          -0.7170431915801609,
          -0.9414347911475995,
          1.3348523839103812,
          -0.5462287143271622,
          0.16711566016717894,
          -0.228700738172828,
          -0.7882908854798378
        ],
        [
          -0.7343725161749353,
          -0.9548930948335096,
          1.3260064493302042,
          0.20761262763654187,
          -0.535440288269166,
          -0.35256823806340554,
          0.7388479762799304
        ],
        [
          -0.7418747224704835,
          -0.9714734776247513,
          1.3401297565631058,
          -0.29677234499817584,
          0.0538700257885477,
          -0.4179553388110441,
          0.856934962716057
        ],
        [
          -0.6542737134668091,
          -0.9388174026895526,
          1.296061569290504,
          -0.10194828510543136,
          -0.5628521762509784,
          -0.597638068118433,
          -0.5618119920304893
        ],
        [
          -0.6356345796062061,
          -0.9362283066649881,
          1.3046859110452182,
          0.8958017153455006,
          0.038725730354798274,
          0.3245893869321209,
          -0.30113341641799884
        ],
        [
          -0.6307634862059669,
          -0.9441874945521348,
          1.2750181882262481,
          0.40411114036289725,
          0.24126192841050376,
          0.8626830373789702,
          -0.1851076582771165
        ],
        [
          -0.6006964422396107,
          -0.9188361335352482,
          1.2902917682298585,
          0.19294193604396645,
          0.26951912635843744,
          -0.3534545224568836,
          -0.8747586812357834
        ],
        [
          -0.5521193422916455,
          -0.9100304062092572,
          1.2886411541302902,
          0.04232954281017097,
          -0.6256319167291426,
          0.6411037715156415,
          -0.4424690596230666
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6683687939457859,
            -0.8362467644304952,
            1.2495519222305262
          ],
          "distance_m": -0.00029763460180810646,
          "contact_frame": [
            -0.14330213860769783,
            0.1479797511310888,
            0.9785532639185469,
            0.021441881542273784,
            0.9889903908811151,
            -0.1464180742283755,
            -0.989446685166203,
            3.469446951953614e-18,
            -0.1448974023701348
          ],
          "force_torque_contact_frame": [
            1.2652688330826598,
            -0.24274052154849735,
            -0.006922662037590288,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7651665609899032,
            -0.9464709994369183,
            1.254941626738423
          ],
          "distance_m": -0.00029189054357596587,
          "contact_frame": [
            -0.08326599148837707,
            0.14936023416453237,
            0.9852706709893346,
            0.012577714118030029,
            0.9887828479753863,
            -0.14882970354485373,
            -0.9964479794595514,
            1.734723475976807e-18,
            -0.08421059452929527
          ],
          "force_torque_contact_frame": [
            2.6135148906467265,
            -0.2953912847205411,
            -0.4855826623805114,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6360398542210405,
            -0.9403771953590863,
            1.2700409157234847
          ],
          "distance_m": -0.00028333665322988666,
          "contact_frame": [
            -0.14329752193804174,
            0.14798404843234875,
            0.9785532901257799,
            0.02144182735179507,
            0.9889897478789011,
            -0.14642242529832497,
            -0.9894473549644935,
            0.0,
            -0.1448928285104813
          ],
          "force_torque_contact_frame": [
            3.0309702085665906,
            -0.42193085111399553,
            -0.3251391368395766,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5362747037331249,
            -0.8961758433645683,
            1.28477120209574
          ],
          "distance_m": -6.24744608411082e-05,
          "contact_frame": [
            -0.23834913053213036,
            0.05711574728496138,
            0.9694985731741218,
            0.013635748201114972,
            0.9983675632812198,
            -0.0554641772580768,
            -0.971083806036108,
            0.0,
            -0.23873885660785663
          ],
          "force_torque_contact_frame": [
            0.2028967294690641,
            -0.08853385637088099,
            -0.08930971208897864,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 163,
      "physics_step": 1087,
      "sim_time_s": 5.434999999999906,
      "qpos": [
        -0.6622741534414094,
        -0.9282567678228419,
        1.3099664299491303,
        0.7979742066594571,
        0.43741743917299514,
        -0.36710849561410785,
        -0.19270314439960606,
        -0.265161611517533,
        -0.1266827532077651,
        0.37819405970311365,
        -0.36169547856343337,
        -0.1875927092281054,
        1.0499755209416823,
        0.6897063787231732,
        -2.9757980183887125,
        0.4402428100591907,
        -0.5336079186763065,
        0.39261781917705424,
        1.5729779854241446,
        0.9796024791808876,
        0.4586928899824564
      ],
      "qvel": [
        -0.0015203574119940326,
        0.001948990366616837,
        -0.0006506719316495172,
        0.0012797266768307968,
        -0.007352761247534817,
        -0.0017609490437927098,
        0.001907917058623295,
        0.003717000092925015,
        -0.018991182961838295,
        -0.017701951492165496,
        -0.0013250099919878623,
        -0.00018072309471837224,
        0.02668024757007197,
        0.00036917495842133763,
        -0.0001369289734746758,
        0.00017192108563396786,
        -0.0005860703450613939,
        -0.0002616317155317224,
        0.0008019816943203103,
        0.0023642801716758344
      ],
      "target_rad": [
        -0.9422773718833923,
        -0.442403644323349,
        0.17109739780426025,
        -0.31264743208885193,
        -0.2126551866531372,
        1.589028000831604,
        0.6880713701248169,
        -4.537051677703857,
        1.1321384906768799,
        -3.8767893314361572,
        2.059209108352661,
        1.9995348453521729,
        0.9800182580947876,
        0.4596107006072998
      ],
      "policy_call": 271,
      "body_poses": [
        [
          -0.6622741534414094,
          -0.9282567678228419,
          1.3099664299491303,
          0.7979742066594571,
          0.43741743917299514,
          -0.36710849561410785,
          -0.19270314439960606
        ],
        [
          -0.6548029061441762,
          -0.9197423387874919,
          1.325423951161329,
          -0.025922938070166872,
          -0.6377896404973908,
          -0.516838186311242,
          -0.5704653056291193
        ],
        [
          -0.634982120641565,
          -0.9204475245583574,
          1.3313517817162661,
          -0.51704130714311,
          -0.43418775588819297,
          0.0104574073997518,
          -0.7375906195004069
        ],
        [
          -0.6488388830661803,
          -0.8930146748220378,
          1.3361140175831958,
          -0.773939901879755,
          0.37867793619963924,
          -0.17590705841216903,
          -0.4761058240714078
        ],
        [
          -0.6689534461175378,
          -0.8734504319863261,
          1.3046077382102157,
          -0.0705087113876829,
          -0.04818169526879132,
          -0.9073798827819494,
          0.4115444012279704
        ],
        [
          -0.6651393370646238,
          -0.8262775489922081,
          1.2904595340077125,
          -0.1329540907518177,
          0.10874356807999405,
          -0.4031316273438143,
          -0.8988787110554551
        ],
        [
          -0.6698715731240072,
          -0.9547747711298865,
          1.3442662605175755,
          0.23449790522059916,
          0.7803652524193219,
          0.5575131103931614,
          -0.158807861906837
        ],
        [
          -0.7171019701308828,
          -0.9413557847111972,
          1.3348206053223048,
          -0.5459492675418326,
          0.16700551317495543,
          -0.22873207716767646,
          -0.7884986954423361
        ],
        [
          -0.734426708928799,
          -0.9548239595972821,
          1.3259807140089566,
          0.20747453455233306,
          -0.5351783674906397,
          -0.35271193360990727,
          0.7390079325497841
        ],
        [
          -0.7419131473376115,
          -0.9714097602145202,
          1.340106026672267,
          -0.29694886794553993,
          0.05416133868397201,
          -0.41802420353862574,
          0.8568218510715746
        ],
        [
          -0.6543263797947781,
          -0.9387495425307009,
          1.296038595480268,
          -0.10202972454102321,
          -0.5628895572840515,
          -0.5975388545156286,
          -0.5618652854152828
        ],
        [
          -0.6356878022402594,
          -0.9361656500542297,
          1.3046656996534092,
          0.8957830393368637,
          0.03882195364695204,
          0.3245382110001509,
          -0.30123172467764053
        ],
        [
          -0.6308148749340264,
          -0.9441237248306386,
          1.274997979395168,
          0.4041332567388558,
          0.2413953924784133,
          0.8626346234491651,
          -0.18511099836194342
        ],
        [
          -0.6007434520450798,
          -0.9187809483780742,
          1.2902771839398912,
          0.19281323207402937,
          0.26953228513189287,
          -0.35347152387213504,
          -0.8747761351455906
        ],
        [
          -0.5521641293634203,
          -0.9099863859002498,
          1.2886324716201107,
          0.042350806563899134,
          -0.6255041962580199,
          0.6412134820375337,
          -0.4424886214359602
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6683690312156165,
            -0.8361522701094413,
            1.249536713004414
          ],
          "distance_m": -0.00029936503834808876,
          "contact_frame": [
            -0.1433022509294249,
            0.14797964657961865,
            0.9785532632804058,
            0.021441882860233265,
            0.9889904065248416,
            -0.14641796836876572,
            -0.9894466688700146,
            0.0,
            -0.14489751365027567
          ],
          "force_torque_contact_frame": [
            1.271507148615624,
            -0.23787155601991325,
            -0.003348864740559676,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.765254180524134,
            -0.9464164904252207,
            1.2549273901843871
          ],
          "distance_m": -0.00028904125805960496,
          "contact_frame": [
            -0.08326339748716598,
            0.1493626119875477,
            0.985270529742543,
            0.012577527082668467,
            0.9887824887912696,
            -0.1488321056500494,
            -0.9964481985790223,
            -1.734723475976807e-18,
            -0.08420800168998821
          ],
          "force_torque_contact_frame": [
            2.5969825260118076,
            -0.2987100136960208,
            -0.4688280913073596,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6360898614136946,
            -0.9403114489680311,
            1.2700219513270465
          ],
          "distance_m": -0.000286661308081034,
          "contact_frame": [
            -0.14329760761145408,
            0.14798396868553507,
            0.9785532896398194,
            0.02144182835778455,
            0.9889897598115355,
            -0.1464223445536805,
            -0.9894473425349672,
            0.0,
            -0.14489291338947863
          ],
          "force_torque_contact_frame": [
            3.058022689026229,
            -0.4208904769907119,
            -0.3407781534498048,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5363140767867677,
            -0.8961361435816717,
            1.2847629590889709
          ],
          "distance_m": -5.515807140172896e-05,
          "contact_frame": [
            -0.23834911782072143,
            0.057115742419066584,
            0.9694985765858569,
            0.013635746308426093,
            0.9983675635595936,
            -0.055464172712602566,
            -0.9710838091826556,
            -1.734723475976807e-18,
            -0.23873884380909596
          ],
          "force_torque_contact_frame": [
            0.18549506874769048,
            -0.09258006496738509,
            -0.09291500378030539,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 164,
      "physics_step": 1093,
      "sim_time_s": 5.464999999999906,
      "qpos": [
        -0.662321282822095,
        -0.9281983463152603,
        1.309947503773107,
        0.7979244607016858,
        0.4374231740846722,
        -0.3671822541503422,
        -0.1927555810467943,
        -0.2651083952966159,
        -0.12656736652840264,
        0.3776434207546418,
        -0.36213251368651656,
        -0.18763096062138043,
        1.049970119251639,
        0.6904435261967985,
        -2.975788364257965,
        0.4402390225752789,
        -0.5336046520430352,
        0.3926036859134959,
        1.572970713018344,
        0.9796268744029522,
        0.458760929909311
      ],
      "qvel": [
        -0.0016057402140719605,
        0.0019470393146982826,
        -0.0006184691877022946,
        0.0014953482516310449,
        -0.006027583885399081,
        -0.0011909333022457128,
        0.001680681986975656,
        0.003941209170989964,
        -0.01790288209167397,
        -0.01231359023370043,
        -0.001242930261391213,
        -0.000182406867657183,
        0.023064514255008127,
        0.0002931540740593626,
        -0.00011830106717332761,
        6.462584968713829e-05,
        -0.0003929870527754553,
        -0.00022696605205766674,
        0.0008088019128488647,
        0.0021985189048099626
      ],
      "target_rad": [
        -0.941802978515625,
        -0.4420238435268402,
        0.17136311531066895,
        -0.31223011016845703,
        -0.21243691444396973,
        1.5885653495788574,
        0.6877959966659546,
        -4.535366058349609,
        1.1326195001602173,
        -3.87562894821167,
        2.058483600616455,
        1.9992547035217285,
        0.9794856309890747,
        0.4592577815055847
      ],
      "policy_call": 273,
      "body_poses": [
        [
          -0.662321282822095,
          -0.9281983463152603,
          1.309947503773107,
          0.7979244607016858,
          0.4374231740846722,
          -0.3671822541503422,
          -0.1927555810467943
        ],
        [
          -0.6548503556723249,
          -0.9196861062953182,
          1.3254063852774631,
          -0.0259628661869808,
          -0.6378148278234173,
          -0.5167498470433712,
          -0.5705153552434787
        ],
        [
          -0.6350301786376706,
          -0.9203955030873208,
          1.3313357476804928,
          -0.5170429913659166,
          -0.43418293793211965,
          0.010580776144435398,
          -0.7375905155736466
        ],
        [
          -0.6488845692451473,
          -0.8929619679512337,
          1.336100935067421,
          -0.7741421499418419,
          0.37868076936152206,
          -0.17572974058035928,
          -0.47584016736163315
        ],
        [
          -0.6689726476240974,
          -0.87338124415178,
          1.3045879972967107,
          -0.07056630149820202,
          -0.04831693964387865,
          -0.9074058664868626,
          0.4114613759534903
        ],
        [
          -0.6651467530539827,
          -0.8262064386252862,
          1.2904493886566835,
          -0.13310836615389346,
          0.10880083745912675,
          -0.4030414923762407,
          -0.8988893680821712
        ],
        [
          -0.6699268222398954,
          -0.9547172613191456,
          1.3442448298996579,
          0.2344908602489259,
          0.7804253655845519,
          0.5574435646601105,
          -0.1587669909992808
        ],
        [
          -0.7171540728440131,
          -0.9412901904512708,
          1.3347949321073573,
          -0.5457387117185707,
          0.16692839880989357,
          -0.22875277187831436,
          -0.7886547644949005
        ],
        [
          -0.734475197351811,
          -0.9547658733723634,
          1.325959401381615,
          0.20736658386787768,
          -0.5349852817610927,
          -0.3528215897327023,
          0.7391256821491584
        ],
        [
          -0.7419498790903417,
          -0.9713557456287257,
          1.3400861586678876,
          -0.29708577243561496,
          0.05437635744871226,
          -0.4180732689456317,
          0.8567368308646808
        ],
        [
          -0.6543736812906445,
          -0.9386915439877485,
          1.2960198897454505,
          -0.10209002473506018,
          -0.5629114181861936,
          -0.5974687391708218,
          -0.5619069921604738
        ],
        [
          -0.6357356178590072,
          -0.936111276624057,
          1.3046491893607222,
          0.8957725398839692,
          0.03889191042001476,
          0.3244964045412795,
          -0.30129895375438287
        ],
        [
          -0.630860971096416,
          -0.9440685057178133,
          1.2749815247392957,
          0.40415471892122906,
          0.24148922053887867,
          0.8625984098998456,
          -0.18511051503219478
        ],
        [
          -0.6007867619764983,
          -0.9187316809269827,
          1.2902651152775235,
          0.19272406934874503,
          0.26954713966441324,
          -0.35348448212123174,
          -0.8747859701046179
        ],
        [
          -0.5522059198356098,
          -0.9099446475982219,
          1.2886250475468108,
          0.04237163742012431,
          -0.6254118412216033,
          0.6412901755508355,
          -0.4425060270144572
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6683683933335033,
            -0.8360726767142189,
            1.2495243228790933
          ],
          "distance_m": -0.0003002392566989203,
          "contact_frame": [
            -0.14330240201302297,
            0.14797950594783868,
            0.978553262421996,
            0.021441884632989638,
            0.9889904275671395,
            -0.14641782597741299,
            -0.9894466469500434,
            0.0,
            -0.14489766333283804
          ],
          "force_torque_contact_frame": [
            1.2725928154315782,
            -0.23484598714206728,
            -0.0019846706814541926,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7653269957414398,
            -0.9463696026611392,
            1.2549147692550044
          ],
          "distance_m": -0.00028775632548856857,
          "contact_frame": [
            -0.08326156128604291,
            0.1493642951605742,
            0.9852704297518502,
            0.01257739467913539,
            0.9887822345345737,
            -0.14883380601160606,
            -0.9964483536818634,
            0.0,
            -0.08420616631045627
          ],
          "force_torque_contact_frame": [
            2.5938298020243344,
            -0.2974098136145412,
            -0.45634367686956134,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6361348776050643,
            -0.9402548989017568,
            1.2700059670644903
          ],
          "distance_m": -0.0002883057518661942,
          "contact_frame": [
            -0.14329767783728062,
            0.14798390331827524,
            0.9785532892413833,
            0.021441829182461986,
            0.9889897695925308,
            -0.14642227836850086,
            -0.9894473323465747,
            0.0,
            -0.1448929829641413
          ],
          "force_torque_contact_frame": [
            3.062499929200324,
            -0.4259902343010087,
            -0.35710856291288384,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5363517911048529,
            -0.8960974679759293,
            1.2847551179091357
          ],
          "distance_m": -4.79700670170969e-05,
          "contact_frame": [
            -0.23834910820424207,
            0.05711573880047338,
            0.9694985791632285,
            0.013635744891549485,
            0.99836756376661,
            -0.05546416933459369,
            -0.971083811562882,
            1.734723475976807e-18,
            -0.2387388341273889
          ],
          "force_torque_contact_frame": [
            0.18234243648861256,
            -0.09186701077137462,
            -0.09047542571723795,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 165,
      "physics_step": 1100,
      "sim_time_s": 5.499999999999905,
      "qpos": [
        -0.6623789976153679,
        -0.9281302268217575,
        1.3099262811961592,
        0.7978767323650942,
        0.43743285626727485,
        -0.3672520652714018,
        -0.19279817624174345,
        -0.26505437961399453,
        -0.12642305287478992,
        0.37703895046891506,
        -0.36245111031976274,
        -0.18767339646247255,
        1.0499637571522022,
        0.6911740670088691,
        -2.975779829597599,
        0.4402350764483291,
        -0.5336040808832164,
        0.3925933952546532,
        1.5729637746085214,
        0.9796551871043211,
        0.4588347127493938
      ],
      "qvel": [
        -0.0016766919802864945,
        0.0019456163059521187,
        -0.0005996959462601583,
        0.0014885430068688305,
        -0.004511815190815948,
        -0.0007593818425127384,
        0.0014438914108019076,
        0.004278634761289159,
        -0.01684541275773206,
        -0.006910737242358555,
        -0.0011955778503377119,
        -0.00017842662141650457,
        0.019347105535942582,
        0.00020697371129328217,
        -0.00010996956819341642,
        -1.0689812230741878e-05,
        -0.00023069572642622023,
        -0.00017705977284390836,
        0.0008128630289972698,
        0.002047644210726251
      ],
      "target_rad": [
        -0.9414030909538269,
        -0.4416818916797638,
        0.171672523021698,
        -0.31195178627967834,
        -0.21231472492218018,
        1.5882010459899902,
        0.6874825954437256,
        -4.53384256362915,
        1.1329745054244995,
        -3.874547004699707,
        2.0578391551971436,
        1.999011516571045,
        0.9790645241737366,
        0.4589226245880127
      ],
      "policy_call": 275,
      "body_poses": [
        [
          -0.6623789976153679,
          -0.9281302268217575,
          1.3099262811961592,
          0.7978767323650942,
          0.43743285626727485,
          -0.3672520652714018,
          -0.19279817624174345
        ],
        [
          -0.6549086217983311,
          -0.9196199871285536,
          1.3253865304023151,
          -0.02599703013779102,
          -0.6378336255794657,
          -0.5166688329015952,
          -0.5705661553336923
        ],
        [
          -0.6350890493611256,
          -0.9203331444495555,
          1.3313174624573858,
          -0.5170257930299158,
          -0.43417721730385955,
          0.010705812336367502,
          -0.7376041342741245
        ],
        [
          -0.6489422550139045,
          -0.892899570870065,
          1.3360858724440057,
          -0.7743521375051146,
          0.37868864470888536,
          -0.17552441073635655,
          -0.47556793283973736
        ],
        [
          -0.6690021826724466,
          -0.8733017804707012,
          1.3045656123212426,
          -0.07067421013211246,
          -0.048515722322125115,
          -0.9074317143960547,
          0.41136244896441326
        ],
        [
          -0.6651590719006798,
          -0.8261248675899437,
          1.2904387092410432,
          -0.13332776875871932,
          0.10890755366932837,
          -0.4029305810552977,
          -0.8988936520423437
        ],
        [
          -0.6699921316766377,
          -0.9546501856748751,
          1.3442211151284598,
          0.2344866618709525,
          0.7804788882638622,
          0.5573829306387199,
          -0.1587229630885646
        ],
        [
          -0.7172165344585443,
          -0.9412161582711542,
          1.3347668732440818,
          -0.5455215010348542,
          0.16685579531507785,
          -0.2287708835861091,
          -0.7888151356951019
        ],
        [
          -0.7345337474790808,
          -0.954699671263092,
          1.3259356220185983,
          0.20725107691968103,
          -0.5347908919023946,
          -0.35293652442871526,
          0.7392438723304042
        ],
        [
          -0.741996445240836,
          -0.9712937428487641,
          1.340063782915413,
          -0.29723133259468154,
          0.054592965154589654,
          -0.41812102686998737,
          0.8566492572627405
        ],
        [
          -0.6544312959272102,
          -0.9386236822932534,
          1.295998918554805,
          -0.10214569724957501,
          -0.562924926323451,
          -0.5974060128049262,
          -0.5619500331182964
        ],
        [
          -0.6357938419523629,
          -0.9360465693628266,
          1.3046304768312276,
          0.8957668781376813,
          0.038957778278162256,
          0.32445277581237714,
          -0.30135425633420815
        ],
        [
          -0.630917117967789,
          -0.9440028539095118,
          1.2749629002636942,
          0.40418091533133055,
          0.24157187062313745,
          0.8625643012075355,
          -0.18510441725664023
        ],
        [
          -0.6008408747297549,
          -0.918671168583348,
          1.2902510066092434,
          0.19264747427147122,
          0.26956812050913026,
          -0.35349524185081693,
          -0.8747920284563804
        ],
        [
          -0.5522587640487884,
          -0.9098902631820074,
          1.2886157017095314,
          0.04240010411019101,
          -0.6253263215753128,
          0.6413588183997272,
          -0.4425246758966527
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.668367276493982,
            -0.8359810547047037,
            1.2495103965664738
          ],
          "distance_m": -0.00030069709343116027,
          "contact_frame": [
            -0.14330263789139946,
            0.14797928638633634,
            0.9785532610818672,
            0.021441887400466913,
            0.988990460419407,
            -0.14641760366880427,
            -0.9894466127275752,
            0.0,
            -0.14489789702382797
          ],
          "force_torque_contact_frame": [
            1.2733855011042428,
            -0.23208278859691536,
            -0.0013854864120700916,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7654096567283342,
            -0.9463151137085012,
            1.254899842082291
          ],
          "distance_m": -0.00028710354055913785,
          "contact_frame": [
            -0.08325980210614697,
            0.14936590773065808,
            0.985270333949542,
            0.01257726782344976,
            0.9887819909402662,
            -0.14883543504925395,
            -0.9964485022756283,
            -1.734723475976807e-18,
            -0.08420440791702975
          ],
          "force_torque_contact_frame": [
            2.5913250601467794,
            -0.29661550992152336,
            -0.4437744455910608,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6361899617908688,
            -0.9401881228364725,
            1.2699873816945193
          ],
          "distance_m": -0.0002891288354749959,
          "contact_frame": [
            -0.1432977555134607,
            0.14798383101598958,
            0.9785532888006844,
            0.021441830094601454,
            0.988989780411219,
            -0.14642220516152327,
            -0.9894473210772764,
            0.0,
            -0.1448930599200711
          ],
          "force_torque_contact_frame": [
            3.065996408872813,
            -0.43029705416952135,
            -0.3726172243531086,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5364006869235728,
            -0.8960458013148098,
            1.2847446353160348
          ],
          "distance_m": -3.9090861785357174e-05,
          "contact_frame": [
            -0.238349095244709,
            0.05711573364617685,
            0.9694985826529545,
            0.013635742915587824,
            0.9983675640614827,
            -0.055464164512602325,
            -0.9710838147714999,
            0.0,
            -0.23873882107615294
          ],
          "force_torque_contact_frame": [
            0.17966942340308859,
            -0.09113275918408652,
            -0.08853666421900207,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 166,
      "physics_step": 1107,
      "sim_time_s": 5.534999999999904,
      "qpos": [
        -0.662438685101532,
        -0.9280621353789061,
        1.309905485833851,
        0.797839990388184,
        0.4374431882651522,
        -0.3673048780704109,
        -0.1928261738547962,
        -0.2650083764017954,
        -0.12626244845448534,
        0.3764662412765089,
        -0.36260592880520753,
        -0.18771456031264155,
        1.0499574470774606,
        0.691786439387484,
        -2.975772979351371,
        0.44023148347731694,
        -0.5336051245252996,
        0.3925870231075937,
        1.5729583530620634,
        0.9796827484331554,
        0.4589032394749681
      ],
      "qvel": [
        -0.0017228821950088771,
        0.00194491548615282,
        -0.000591043166712407,
        0.0013005507521253704,
        -0.003267836752324755,
        -0.00046558733892559327,
        0.001216275521453362,
        0.0048319973623936465,
        -0.016107411745931426,
        -0.0029571051368143687,
        -0.001170825957993051,
        -0.00017856299770026605,
        0.01625896459482559,
        0.00018078834288276784,
        -9.897701558234581e-05,
        -3.8085553262992534e-05,
        -0.00014836790748855747,
        -0.00014077377071833864,
        0.0007835763445602598,
        0.0018999511069529304
      ],
      "target_rad": [
        -0.9412429928779602,
        -0.4415339529514313,
        0.1718321442604065,
        -0.31186118721961975,
        -0.21227437257766724,
        1.58806312084198,
        0.6873247623443604,
        -4.533174991607666,
        1.1331249475479126,
        -3.874070167541504,
        2.0575673580169678,
        1.9989147186279297,
        0.9788869619369507,
        0.45877546072006226
      ],
      "policy_call": 276,
      "body_poses": [
        [
          -0.662438685101532,
          -0.9280621353789061,
          1.309905485833851,
          0.797839990388184,
          0.4374431882651522,
          -0.3673048780704109,
          -0.1928261738547962
        ],
        [
          -0.6549688830644279,
          -0.9195533786958504,
          1.3253668285063045,
          -0.026019580372848676,
          -0.637845428642133,
          -0.5166079681406697,
          -0.5706070432890937
        ],
        [
          -0.6351497781711,
          -0.9202692800515383,
          1.3312989922326512,
          -0.5169899119965441,
          -0.4341733112211582,
          0.01081296383571578,
          -0.7376300200846944
        ],
        [
          -0.6490032822839678,
          -0.8928364011271327,
          1.3360705305290141,
          -0.7745387000762911,
          0.3786994409605741,
          -0.17532048345244217,
          -0.4753306886603029
        ],
        [
          -0.6690376215039892,
          -0.873223443808328,
          1.304543430414385,
          -0.0708163346206314,
          -0.04874670525203615,
          -0.9074542524145345,
          0.41126096976585147
        ],
        [
          -0.6651746102217021,
          -0.8260445031359246,
          1.2904287323707582,
          -0.13357834823540915,
          0.10904783509669766,
          -0.40281398704932436,
          -0.8988916989164213
        ],
        [
          -0.6700575161201159,
          -0.9545830265994605,
          1.3441983335579433,
          0.23448466218031758,
          0.7805172166452723,
          0.5573405941770987,
          -0.1586861046368464
        ],
        [
          -0.7172798548130171,
          -0.9411441860710105,
          1.3347406227554393,
          -0.5453303631053685,
          0.16679635613845722,
          -0.22878660839648537,
          -0.7889552956110576
        ],
        [
          -0.7345935406085268,
          -0.9546346499725659,
          1.3259130718207124,
          0.20714661127728157,
          -0.5346228114092569,
          -0.3530370528984146,
          0.7393467185549693
        ],
        [
          -0.7420457795031145,
          -0.9712323578568279,
          1.3400424818737435,
          -0.2973611773528305,
          0.05478127602321289,
          -0.4181600407504603,
          0.85657312724611
        ],
        [
          -0.6544907421680786,
          -0.9385556853560361,
          1.2959783320684888,
          -0.10218673808813072,
          -0.5629307194024533,
          -0.5973605182292632,
          -0.5619851305620182
        ],
        [
          -0.63585382650708,
          -0.9359807967849805,
          1.3046117163117317,
          0.8957651662023614,
          0.03900777629359486,
          0.3244173401247523,
          -0.3013910248057558
        ],
        [
          -0.6309752554075947,
          -0.9439362594775328,
          1.2749442230341614,
          0.4042042497212034,
          0.2416308571461791,
          0.8625386224066136,
          -0.18509613242588593
        ],
        [
          -0.6008978367850557,
          -0.9186081765098615,
          1.290235985084275,
          0.19259539780385782,
          0.26958773742111797,
          -0.35350262455017845,
          -0.8747944667252244
        ],
        [
          -0.5523148861017615,
          -0.9098312228671415,
          1.2886044251993372,
          0.042428032897691016,
          -0.6252613990702537,
          0.6414097981018113,
          -0.44253984651795475
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6683660197940845,
            -0.8358904414244626,
            1.2494967593057436
          ],
          "distance_m": -0.0003009278628321576,
          "contact_frame": [
            -0.14330292365801062,
            0.14797902038704397,
            0.9785532594582461,
            0.021441890753041398,
            0.988990500219942,
            -0.1464173343414086,
            -0.9894465712669894,
            -6.938893903907228e-18,
            -0.14489818014039718
          ],
          "force_torque_contact_frame": [
            1.2743581687488827,
            -0.2303490657619124,
            -0.0029825288032858666,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7654901413631064,
            -0.9462607247388171,
            1.254884947369545
          ],
          "distance_m": -0.0002867807059855577,
          "contact_frame": [
            -0.08325831107698868,
            0.14936727449648848,
            0.9852702527459651,
            0.012577160299685416,
            0.9887817844749622,
            -0.14883681577252772,
            -0.9964486282169309,
            0.0,
            -0.08420291755394584
          ],
          "force_torque_contact_frame": [
            2.588799067601822,
            -0.29713348121291333,
            -0.43391509968337666,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.636247284675128,
            -0.9401207392927037,
            1.269968595609915
          ],
          "distance_m": -0.0002895233512861057,
          "contact_frame": [
            -0.14329782164634094,
            0.14798376945806715,
            0.9785532884255181,
            0.021441830871131513,
            0.9889897896222093,
            -0.1464221428333576,
            -0.9894473114826821,
            -3.469446951953614e-18,
            -0.144893125439728
          ],
          "force_torque_contact_frame": [
            3.069501438829309,
            -0.43275299827319025,
            -0.3831821601832802,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5364537481116186,
            -0.8959887380497518,
            1.284732232811669
          ],
          "distance_m": -3.133278417320037e-05,
          "contact_frame": [
            -0.2383490817831522,
            0.05711572807971306,
            0.9694985862903838,
            0.013635740812183588,
            0.9983675643799352,
            -0.055464159297501966,
            -0.9710838181051269,
            0.0,
            -0.23873880751643378
          ],
          "force_torque_contact_frame": [
            0.17688549510574939,
            -0.09009689124968445,
            -0.08678860385606493,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 167,
      "physics_step": 1113,
      "sim_time_s": 5.564999999999904,
      "qpos": [
        -0.662490669525685,
        -0.9280038260974386,
        1.3098878087823762,
        0.7978153111577383,
        0.437451027526393,
        -0.36734020786356564,
        -0.1928431992192996,
        -0.2649756269685019,
        -0.12610556658843367,
        0.37598088455610745,
        -0.36268267122265213,
        -0.18775017764875848,
        1.0499521126458504,
        0.6922415726202089,
        -2.9757677143234473,
        0.4402286661967005,
        -0.5336061912878586,
        0.39258339747370047,
        1.5729542162957768,
        0.9797068370548155,
        0.45895817258561944
      ],
      "qvel": [
        -0.0017386658885857006,
        0.0019428634327481138,
        -0.0005879945800817638,
        0.001083132493311831,
        -0.002632799442188428,
        -0.0003316001467493551,
        0.0009994103248667028,
        0.005528373392951531,
        -0.016263029534151444,
        -0.0024111096432813946,
        -0.0011998891489608749,
        -0.00017619831050489992,
        0.014459107895009258,
        0.0001765896489037936,
        -8.884615058544782e-05,
        -3.255909694226531e-05,
        -0.00010558403729355473,
        -0.0001367254161054076,
        0.0008135814238094612,
        0.0017803308264518235
      ],
      "target_rad": [
        -0.9409884214401245,
        -0.44129276275634766,
        0.17215555906295776,
        -0.311747670173645,
        -0.21221870183944702,
        1.5878854990005493,
        0.6870484352111816,
        -4.532074451446533,
        1.133398413658142,
        -3.8732783794403076,
        2.0571393966674805,
        1.9987809658050537,
        0.9785722494125366,
        0.45853108167648315
      ],
      "policy_call": 278,
      "body_poses": [
        [
          -0.662490669525685,
          -0.9280038260974386,
          1.3098878087823762,
          0.7978153111577392,
          0.4374510275263935,
          -0.367340207863566,
          -0.19284319921929982
        ],
        [
          -0.6550213097841074,
          -0.9194960412642529,
          1.3253498999178959,
          -0.026033537614245504,
          -0.6378524187880462,
          -0.5165675774272847,
          -0.5706351590258288
        ],
        [
          -0.6352025208507751,
          -0.9202137359600705,
          1.3312829024916033,
          -0.5169462857067914,
          -0.4341705973558427,
          0.01089567629883438,
          -0.7376609751936279
        ],
        [
          -0.6490572567486159,
          -0.8927819428763766,
          1.3360571062382487,
          -0.7746881137315655,
          0.37871140927716085,
          -0.17514132249257983,
          -0.47514367519928724
        ],
        [
          -0.6690706429220653,
          -0.8731568554307748,
          1.3045242471697331,
          -0.07095480813395479,
          -0.04895066919049229,
          -0.9074728743189295,
          0.41117177622475104
        ],
        [
          -0.6651902236936882,
          -0.8259761338419314,
          1.2904202811683532,
          -0.13379916772345707,
          0.10918451171106194,
          -0.4027102640404886,
          -0.8988887408102111
        ],
        [
          -0.6701132883028766,
          -0.9545253771275133,
          1.3441793044655153,
          0.23448391469466592,
          0.7805417974003963,
          0.5573138173771521,
          -0.15866034545824503
        ],
        [
          -0.7173342910670262,
          -0.9410835168565161,
          1.3347192151211609,
          -0.5451830161746839,
          0.1667523233015209,
          -0.22880007461757979,
          -0.7890625243941125
        ],
        [
          -0.7346452478068237,
          -0.9545793684264384,
          1.325894547718619,
          0.20706479380188741,
          -0.5344943705445406,
          -0.3531129252357462,
          0.7394262647860376
        ],
        [
          -0.7420894544891607,
          -0.9711798099992148,
          1.3400249803538742,
          -0.29746123511354655,
          0.05492630360863357,
          -0.4181879724043952,
          0.8565154607553305
        ],
        [
          -0.6545425031766762,
          -0.9384974081964207,
          1.2959608067208985,
          -0.10221383673391188,
          -0.5629329550720985,
          -0.5973309453700263,
          -0.5620093961645823
        ],
        [
          -0.6359059751896596,
          -0.9359239429458769,
          1.3045954521214576,
          0.8957649845865191,
          0.039041097817208145,
          0.3243927428311575,
          -0.30141372475124395
        ],
        [
          -0.6310260685332714,
          -0.9438788248194829,
          1.2749280227518287,
          0.40422112324836573,
          0.24166866731840297,
          0.862521558124862,
          -0.1850894392617704
        ],
        [
          -0.6009480039727656,
          -0.9185530238117028,
          1.2902222935751915,
          0.192564541635354,
          0.2696015180480131,
          -0.3535079043990586,
          -0.8747948789849873
        ],
        [
          -0.5523645608196408,
          -0.9097783444447703,
          1.2885931670010364,
          0.04244910710476988,
          -0.6252177893597182,
          0.641443605363511,
          -0.44255043815639233
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6683657361757824,
            -0.8358131909027171,
            1.2494850287918695
          ],
          "distance_m": -0.00030110304651683346,
          "contact_frame": [
            -0.14330319057855356,
            0.14797877193033226,
            0.9785532579415376,
            0.021441893884401052,
            0.9889905373955763,
            -0.14641708277608653,
            -0.9894465325406204,
            0.0,
            -0.14489844458565856
          ],
          "force_torque_contact_frame": [
            1.2752882383860584,
            -0.22996430282507616,
            -0.006892760674189924,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7655576687153129,
            -0.9462139406386257,
            1.254872252992643
          ],
          "distance_m": -0.0002865560990201572,
          "contact_frame": [
            -0.08325716256759412,
            0.14936832728654909,
            0.9852701901939445,
            0.012577077473338263,
            0.9887816254379014,
            -0.1488378793137395,
            -0.9964487252254491,
            0.0,
            -0.08420176955727919
          ],
          "force_torque_contact_frame": [
            2.5862412939226065,
            -0.2989286118227773,
            -0.4261835474715087,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.636297557959829,
            -0.9400627939857829,
            1.2699523236981256
          ],
          "distance_m": -0.00028981116681451463,
          "contact_frame": [
            -0.14329786834345634,
            0.14798372599136245,
            0.9785532881606065,
            0.02144183141944038,
            0.9889897961261852,
            -0.14642209882277654,
            -0.9894473047078363,
            3.469446951953614e-18,
            -0.14489317170383928
          ],
          "force_torque_contact_frame": [
            3.0734547672481787,
            -0.43287797728691635,
            -0.3884521687119904,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5365013724276214,
            -0.8959371550978849,
            1.2847202416251629
          ],
          "distance_m": -2.599433419690427e-05,
          "contact_frame": [
            -0.23834907145073625,
            0.05711572376466126,
            0.9694985890847964,
            0.01363573918753328,
            0.9983675646267957,
            -0.05546415525337658,
            -0.9710838206639948,
            0.0,
            -0.2387387971080918
          ],
          "force_torque_contact_frame": [
            0.17405134613667655,
            -0.08869854781270935,
            -0.08535279832396721,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 168,
      "physics_step": 1120,
      "sim_time_s": 5.599999999999903,
      "qpos": [
        -0.6625518010435325,
        -0.9279358790397902,
        1.3098673066177418,
        0.7977921511814885,
        0.437458644158512,
        -0.36737356471267274,
        -0.19285819172260585,
        -0.2649458341115566,
        -0.12589776150349793,
        0.37540668077295386,
        -0.36276270979508846,
        -0.18779289758396892,
        1.0499463277570298,
        0.6927145577337354,
        -2.9757619380910323,
        0.44022581415860984,
        -0.5336071574593946,
        0.3925804266601261,
        1.5729496216117922,
        0.9797361931442767,
        0.45901814706783267
      ],
      "qvel": [
        -0.001752233719018967,
        0.0019400322599301305,
        -0.0005840306320487398,
        0.0009168907332351521,
        -0.0020643673242677755,
        -0.00022193769118864092,
        0.000742848603095688,
        0.006207549477603562,
        -0.01650410828717725,
        -0.0022049930648503076,
        -0.0012360082807879183,
        -0.000155175922759343,
        0.01286647411485583,
        0.00015197908454881714,
        -7.656517042441205e-05,
        -2.4208739630624514e-05,
        -7.062715275730072e-05,
        -0.00012591707096758472,
        0.0008603918651509494,
        0.001668816793240924
      ],
      "target_rad": [
        -0.9408068656921387,
        -0.44111955165863037,
        0.17246556282043457,
        -0.31168267130851746,
        -0.21218454837799072,
        1.587783694267273,
        0.6868141293525696,
        -4.5312089920043945,
        1.1336474418640137,
        -3.872661590576172,
        2.056821346282959,
        1.9986815452575684,
        0.9783273935317993,
        0.45834243297576904
      ],
      "policy_call": 280,
      "body_poses": [
        [
          -0.6625518010435325,
          -0.9279358790397902,
          1.3098673066177418,
          0.7977921511814885,
          0.437458644158512,
          -0.36737356471267274,
          -0.19285819172260585
        ],
        [
          -0.655082889811555,
          -0.9194289884050183,
          1.3253301063880574,
          -0.02604690566723182,
          -0.637857952449349,
          -0.5165305713105706,
          -0.5706618614414863
        ],
        [
          -0.6352644068945394,
          -0.9201483216310661,
          1.3312639326896831,
          -0.516882518792759,
          -0.43416676803949034,
          0.010986095670300792,
          -0.7377065710690934
        ],
        [
          -0.6491215296654389,
          -0.892718274062936,
          1.336041237256313,
          -0.7748566949125136,
          0.3787292138337158,
          -0.174922794582551,
          -0.47493504911048845
        ],
        [
          -0.6691107400951741,
          -0.8730795513169383,
          1.3045015333941714,
          -0.07112832720841626,
          -0.04918181091988402,
          -0.9074950953029811,
          0.4110651560813762
        ],
        [
          -0.6652108545730507,
          -0.8258966307022337,
          1.2904102987009012,
          -0.1340505748765352,
          0.10935587173289804,
          -0.4025855123985607,
          -0.8988863342489953
        ],
        [
          -0.6701779763437433,
          -0.9544580478406007,
          1.3441575337187945,
          0.23448378559570635,
          0.7805642612080546,
          0.5572894295409292,
          -0.15863568368868525
        ],
        [
          -0.7173977470927992,
          -0.9410134632391355,
          1.3346951663986868,
          -0.545025802352075,
          0.16670645971312983,
          -0.2288162628323966,
          -0.789176120345647
        ],
        [
          -0.7347058023075104,
          -0.9545150847453028,
          1.3258736342755966,
          0.2069765917150256,
          -0.5343579907644732,
          -0.35319191538668737,
          0.7395117978055993
        ],
        [
          -0.7421414549597851,
          -0.9711183679542581,
          1.3400052320733666,
          -0.297567533878203,
          0.055081452280488,
          -0.41821579843507467,
          0.8564549855863
        ],
        [
          -0.6546033905205476,
          -0.9384294840825722,
          1.2959404611973242,
          -0.10223930395144189,
          -0.5629342082747761,
          -0.5973036713057699,
          -0.56203249561411
        ],
        [
          -0.6359672414627555,
          -0.9358573221136793,
          1.304576312695673,
          0.8957653266251551,
          0.03907221209002608,
          0.3243690607848889,
          -0.30143416240374954
        ],
        [
          -0.6310860253074703,
          -0.9438116532118662,
          1.2749089510734155,
          0.40423767748890044,
          0.24170312073676886,
          0.8625055702033444,
          -0.1850828000995503
        ],
        [
          -0.6010074296709145,
          -0.9184879148400361,
          1.2902055926596483,
          0.19253945790237115,
          0.2696140603809297,
          -0.3535137921485084,
          -0.8747941554196338
        ],
        [
          -0.5524235849375297,
          -0.9097150652241515,
          1.2885785891134207,
          0.0424699248484406,
          -0.6251768652144903,
          0.6414749756664497,
          -0.4425607848394142
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6683668944060983,
            -0.8357232745259612,
            1.24947115244664
          ],
          "distance_m": -0.00030131589565800677,
          "contact_frame": [
            -0.14330351502618469,
            0.14797846992725291,
            0.9785532560975562,
            0.021441897690659607,
            0.9889905825830644,
            -0.1464167769944216,
            -0.989446485467791,
            3.469446951953614e-18,
            -0.14489876602454782
          ],
          "force_torque_contact_frame": [
            1.2762842384354518,
            -0.22929266125608502,
            -0.01075500301699911,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7656350692108171,
            -0.9461590251623578,
            1.2548575092655305
          ],
          "distance_m": -0.00028629482949017184,
          "contact_frame": [
            -0.08325592421640757,
            0.14936946243180635,
            0.9852701227458919,
            0.012576988165259892,
            0.9887814539587771,
            -0.14883902605115945,
            -0.9964488298209612,
            0.0,
            -0.0842005317586373
          ],
          "force_torque_contact_frame": [
            2.5836525958327767,
            -0.3008286990436614,
            -0.4189462099205925,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6363570134849361,
            -0.9399951485480418,
            1.26993321243628
          ],
          "distance_m": -0.00029015337981924943,
          "contact_frame": [
            -0.1432979132835964,
            0.14798368415899146,
            0.9785532879058243,
            0.021441831946952726,
            0.988989802385612,
            -0.14642205646700496,
            -0.9894472981878953,
            0.0,
            -0.14489321622724258
          ],
          "force_torque_contact_frame": [
            3.077472094437773,
            -0.43323238862702174,
            -0.3932302562572476,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5365584959951849,
            -0.8958750779479562,
            1.2847050691348796
          ],
          "distance_m": -2.1098497191714113e-05,
          "contact_frame": [
            -0.23834906143273998,
            0.05711571955668551,
            0.9694985917956013,
            0.013635737606517602,
            0.9983675648675301,
            -0.05546415130878817,
            -0.9710838231450764,
            0.0,
            -0.23873878701614837
          ],
          "force_torque_contact_frame": [
            0.17118863847850857,
            -0.08734004953876146,
            -0.08384858893974713,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 169,
      "physics_step": 1127,
      "sim_time_s": 5.634999999999902,
      "qpos": [
        -0.6626133409258465,
        -0.9278679127642184,
        1.3098469270141948,
        0.7977741565872049,
        0.43746408677209236,
        -0.36740066844551006,
        -0.19286865139785225,
        -0.2649238024763696,
        -0.12567309590584996,
        0.37482732624865756,
        -0.3628363703684809,
        -0.18783654963646848,
        1.049941132287932,
        0.6931370493436381,
        -2.9757566634335926,
        0.4402234297503015,
        -0.533607875336208,
        0.3925783191287701,
        1.5729455657051092,
        0.9797666306845242,
        0.45907442086685607
      ],
      "qvel": [
        -0.00176079452503602,
        0.0019524330708418055,
        -0.0005831838978206419,
        0.0005294448052810232,
        -0.001700526070298167,
        0.00011856670699238163,
        0.0006046203781326837,
        0.006293571373261795,
        -0.016496770291011046,
        -0.0020511918410388015,
        -0.0012303422428847745,
        -0.00014514325297473196,
        0.011568068622751785,
        0.00014720597633853226,
        -6.301685212927495e-05,
        -1.7203498541414675e-05,
        -5.081282092096562e-05,
        -0.00010222832140553183,
        0.0008720628087689769,
        0.0015722113756281011
      ],
      "target_rad": [
        -0.9407360553741455,
        -0.44105082750320435,
        0.17261630296707153,
        -0.3116625249385834,
        -0.2121753692626953,
        1.5877509117126465,
        0.6867003440856934,
        -4.530832290649414,
        1.1337614059448242,
        -3.872400999069214,
        2.0566904544830322,
        1.998638391494751,
        0.9782339334487915,
        0.4582642912864685
      ],
      "policy_call": 281,
      "body_poses": [
        [
          -0.6626133409258465,
          -0.9278679127642184,
          1.3098469270141948,
          0.7977741565872049,
          0.43746408677209236,
          -0.36740066844551006,
          -0.19286865139785225
        ],
        [
          -0.6551448250987449,
          -0.9193616807700399,
          1.3253102800982302,
          -0.026058841441672642,
          -0.6378610184732508,
          -0.5165028971097058,
          -0.5706829375163288
        ],
        [
          -0.6353265994096945,
          -0.9200822518886188,
          1.3312448152780847,
          -0.5168099408498771,
          -0.4341614363728644,
          0.011069664230323115,
          -0.7377593067791323
        ],
        [
          -0.6491868379490296,
          -0.8926542950896205,
          1.3360250844614059,
          -0.7750195341056832,
          0.37875164424940716,
          -0.17469870959338124,
          -0.47473389872578925
        ],
        [
          -0.66915214546931,
          -0.8730025140491585,
          1.3044783749346045,
          -0.07131036653792443,
          -0.04940643089884028,
          -0.9075166981552549,
          0.41095897456978464
        ],
        [
          -0.6652335398677627,
          -0.8258173723178923,
          1.2903997766400355,
          -0.13429584994323046,
          0.10953593788599819,
          -0.40246034024069594,
          -0.8988838509689687
        ],
        [
          -0.6702423602828057,
          -0.9543904936238667,
          1.3441362027493946,
          0.2344852517967773,
          0.7805813497357739,
          0.5572704646329556,
          -0.1586160533560506
        ],
        [
          -0.7174611659489336,
          -0.9409438640301095,
          1.3346719254905257,
          -0.5448815944119851,
          0.16666616642603194,
          -0.2288335086067986,
          -0.7892792043241768
        ],
        [
          -0.7347665686183513,
          -0.9544508114803477,
          1.3258533430287116,
          0.20689436799830557,
          -0.5342339354989003,
          -0.353261799607915,
          0.7395910515884543
        ],
        [
          -0.742194401700025,
          -0.9710566020041143,
          1.3399861069760637,
          -0.2976645575087866,
          0.055224148647517096,
          -0.4182386065682009,
          0.8564009414901087
        ],
        [
          -0.6546646970447493,
          -0.9383615606965242,
          1.2959202470967015,
          -0.10226034805026968,
          -0.5629341590884157,
          -0.5972830603171921,
          -0.5620506201457179
        ],
        [
          -0.6360288673799522,
          -0.9357903842245905,
          1.3045570812536622,
          0.8957661799180086,
          0.039095825529740766,
          0.32434913123757714,
          -0.30145000979710657
        ],
        [
          -0.6311465459216139,
          -0.9437443421761548,
          1.274889801464605,
          0.40425199192632416,
          0.2417292601262796,
          0.8624925414379984,
          -0.1850781126611784
        ],
        [
          -0.6010676006634019,
          -0.9184221434995763,
          1.2901883043569595,
          0.1925235757608299,
          0.26962351673628726,
          -0.35352049443473815,
          -0.8747920278635601
        ],
        [
          -0.5524834950772289,
          -0.909650456517507,
          1.288562822311475,
          0.042486873159724124,
          -0.6251442021635225,
          0.6414991393125236,
          -0.4425702728061773
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6685105105076891,
            -0.8358007818761974,
            1.2494626589046873
          ],
          "distance_m": -0.00029971952807883597,
          "contact_frame": [
            -0.14330378264517038,
            0.14798117330596788,
            0.9785528080929383,
            0.021442338220279654,
            0.9889901780841857,
            -0.14641944469454202,
            -0.9894464371613216,
            -3.469446951953614e-18,
            -0.14489909588664485
          ],
          "force_torque_contact_frame": [
            1.2785356184604235,
            -0.22720689748302286,
            -0.014856951594478973,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7657112186304,
            -0.9461037497342359,
            1.2548428078937215
          ],
          "distance_m": -0.00028605214024081074,
          "contact_frame": [
            -0.08325477499335791,
            0.1493705158762917,
            0.9852700601498331,
            0.012576905282356055,
            0.9887812948204728,
            -0.14884009025349373,
            -0.9964489268870353,
            -1.734723475976807e-18,
            -0.08419938304807234
          ],
          "force_torque_contact_frame": [
            2.5802853296125434,
            -0.30342603857574074,
            -0.4133437517538858,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6364171350152642,
            -0.9399274807435352,
            1.2699140243512352
          ],
          "distance_m": -0.0002904484528371606,
          "contact_frame": [
            -0.1432979485582485,
            0.1479836513257191,
            0.9785532877055321,
            0.021441832361306094,
            0.9889898072984918,
            -0.14642202322288017,
            -0.989447293070221,
            -3.469446951953614e-18,
            -0.14489325117483143
          ],
          "force_torque_contact_frame": [
            3.079988933668586,
            -0.43339350578925073,
            -0.39594068537938587,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5366169145938405,
            -0.8958114246946861,
            1.2846889033431397
          ],
          "distance_m": -1.733145700292968e-05,
          "contact_frame": [
            -0.23834905456954378,
            0.0571157167788492,
            0.9694985936465523,
            0.013635736548532503,
            0.9983675650264477,
            -0.055464148708338885,
            -0.9710838248444794,
            0.0,
            -0.23873878010372832
          ],
          "force_torque_contact_frame": [
            0.16934314685670948,
            -0.08648616667347359,
            -0.0828569801832359,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 170,
      "physics_step": 1133,
      "sim_time_s": 5.6649999999999014,
      "qpos": [
        -0.6626662644626262,
        -0.9278093968504229,
        1.3098295183257957,
        0.7977627211698434,
        0.43746512920810054,
        -0.3674211022949976,
        -0.19287466144353022,
        -0.264906627616442,
        -0.12548377913243125,
        0.3743336440342494,
        -0.362895851569317,
        -0.1878731631751292,
        1.0499370810218238,
        0.6934676076054846,
        -2.9757523147145566,
        0.4402216664079778,
        -0.5336083098283015,
        0.39257698656160755,
        1.5729427210374525,
        0.9797931797777601,
        0.45912037775169406
      ],
      "qvel": [
        -0.0017669483789192082,
        0.0019447694171190863,
        -0.0005775596833560612,
        0.0005454803959653999,
        -0.0013868437296375264,
        3.565801705842371e-05,
        0.0005266269550799929,
        0.0064190561260311805,
        -0.01645468233235717,
        -0.0019286827029697604,
        -0.0012245775820689466,
        -0.00012849232836111834,
        0.010611714662813566,
        0.0001415419557380701,
        -5.5347733348822034e-05,
        -1.3044192870714238e-05,
        -4.0534379901843025e-05,
        -9.181404330410641e-05,
        0.0008962402710926526,
        0.0015021187967291783
      ],
      "target_rad": [
        -0.9406282901763916,
        -0.4409230053424835,
        0.17287766933441162,
        -0.3116515874862671,
        -0.21212589740753174,
        1.587720274925232,
        0.6864793300628662,
        -4.530242443084717,
        1.1339870691299438,
        -3.8720057010650635,
        2.0564956665039062,
        1.9985790252685547,
        0.9780908226966858,
        0.458143949508667
      ],
      "policy_call": 283,
      "body_poses": [
        [
          -0.6626662644626262,
          -0.9278093968504229,
          1.3098295183257957,
          0.7977627211698434,
          0.43746512920810054,
          -0.3674211022949976,
          -0.19287466144353022
        ],
        [
          -0.6551980429922729,
          -0.9193035240560733,
          1.3252932111601772,
          -0.02606953800093935,
          -0.6378632803127768,
          -0.5164846851010139,
          -0.5706964034170433
        ],
        [
          -0.635380001876986,
          -0.9200249556016022,
          1.331228258158973,
          -0.5167490379472275,
          -0.4341558385544997,
          0.011133490754876168,
          -0.7378042999422446
        ],
        [
          -0.6492430053425453,
          -0.8925987898708668,
          1.3360107855477208,
          -0.7751540910199572,
          0.3787746451663421,
          -0.1745121858552991,
          -0.4745644322345929
        ],
        [
          -0.669188229373112,
          -0.8729363871800915,
          1.3044579910089433,
          -0.07146473397016324,
          -0.04959534308276109,
          -0.907532681015742,
          0.41087410070659913
        ],
        [
          -0.6652538627838682,
          -0.82574952246076,
          1.290389566878965,
          -0.13450188405664687,
          0.10968903143341457,
          -0.40235935582024457,
          -0.8988795850125476
        ],
        [
          -0.6702973485436479,
          -0.9543320215760455,
          1.3441183006847857,
          0.23448933419500423,
          0.7805927184115771,
          0.557256314965701,
          -0.15860378161461436
        ],
        [
          -0.7175154602339194,
          -0.9408840064180823,
          1.3346525298912242,
          -0.5447666361391635,
          0.16663635247054964,
          -0.22885089781118054,
          -0.7893598069042712
        ],
        [
          -0.7348187703205955,
          -0.9543952457867474,
          1.3258364163270184,
          0.20682702158857252,
          -0.5341363880934372,
          -0.35331366178266593,
          0.7396555674454304
        ],
        [
          -0.7422404032288813,
          -0.9710028907640619,
          1.3399702584544138,
          -0.2977409622438081,
          0.05533873918121286,
          -0.41825289367844304,
          0.8563600062342789
        ],
        [
          -0.6547174436260776,
          -0.9383031778550721,
          1.2959030396777342,
          -0.10227770060447555,
          -0.5629335810841859,
          -0.5972702718225676,
          -0.5620616315350055
        ],
        [
          -0.6360818486825051,
          -0.9357326463892817,
          1.3045405722584238,
          0.895767059927461,
          0.03910964255945323,
          0.32433343975697276,
          -0.30146248533307585
        ],
        [
          -0.631198712696564,
          -0.9436865490614206,
          1.2748734117063092,
          0.40426344547128784,
          0.24174661377459422,
          0.8624823920186674,
          -0.18507772648797732
        ],
        [
          -0.6011195293895386,
          -0.9183653441258166,
          1.2901730913304552,
          0.1925151000194139,
          0.2696291119925476,
          -0.3535291220711325,
          -0.8747886819559568
        ],
        [
          -0.5525352649489709,
          -0.9095943662842498,
          1.2885485309370772,
          0.04249724324430014,
          -0.6251204960702935,
          0.6415151340432702,
          -0.4425795775935783
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6685139869369839,
            -0.8357246291753582,
            1.2494498500667381
          ],
          "distance_m": -0.00030125243418105245,
          "contact_frame": [
            -0.14330406471815205,
            0.14798079720174262,
            0.9785528236609368,
            0.02144232470906488,
            0.988990234360045,
            -0.1464190665573794,
            -0.9894463966008096,
            3.469446951953614e-18,
            -0.1448993728546583
          ],
          "force_torque_contact_frame": [
            1.2797579319710726,
            -0.2268866105844788,
            -0.017779024950771827,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7657756377857124,
            -0.9460559525891525,
            1.2548302319409013
          ],
          "distance_m": -0.00028581229543450724,
          "contact_frame": [
            -0.08325383179532453,
            0.1493713804650428,
            0.9852700087739215,
            0.01257683725619749,
            0.9887811642107507,
            -0.14884096367150979,
            -0.9964490065507753,
            0.0,
            -0.08419844027042939
          ],
          "force_torque_contact_frame": [
            2.578444411015377,
            -0.30540109036015206,
            -0.4082924920572898,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6364690101950491,
            -0.9398694711027221,
            1.2698975618785813
          ],
          "distance_m": -0.00029063108622015446,
          "contact_frame": [
            -0.1432979690151876,
            0.14798363228395683,
            0.9785532875894746,
            0.02144183260150448,
            0.9889898101477319,
            -0.14642200394285831,
            -0.9894472901023135,
            -3.469446951953614e-18,
            -0.14489327144208114
          ],
          "force_torque_contact_frame": [
            3.0822055501364645,
            -0.4334455826986916,
            -0.3987739140463693,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5366676397302989,
            -0.8957560529449227,
            1.2846744060643371
          ],
          "distance_m": -1.4941762251893564e-05,
          "contact_frame": [
            -0.2383490537880099,
            0.05711571676628294,
            0.969498593839431,
            0.013635736500811778,
            0.9983675650271666,
            -0.055464148707130484,
            -0.9710838250369742,
            0.0,
            -0.23873877932074467
          ],
          "force_torque_contact_frame": [
            0.1675500538426441,
            -0.08560669573215099,
            -0.08194335811049312,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 171,
      "physics_step": 1140,
      "sim_time_s": 5.699999999999901,
      "qpos": [
        -0.6627283629298518,
        -0.9277420524410571,
        1.3098095160216823,
        0.7977489014262981,
        0.43747393859407885,
        -0.3674372670483363,
        -0.19288104652393573,
        -0.2648950577848902,
        -0.1252373236699138,
        0.3737519630822248,
        -0.36295954981634937,
        -0.1879183471355344,
        1.0499330177704165,
        0.6938157927734404,
        -2.9757481658104856,
        0.44021984292803934,
        -0.5336087475376106,
        0.39257579098976453,
        1.5729394977632882,
        0.9798257991278875,
        0.459171379090256
      ],
      "qvel": [
        -0.0017788679695540132,
        0.001917517614381177,
        -0.000569318409441254,
        0.0008249970830379305,
        -0.0009145238985500677,
        -0.0002556536181969299,
        0.00019335592820807465,
        0.00739042278974869,
        -0.016712879923479623,
        -0.0017491428001334625,
        -0.001332392108278328,
        -0.00011018483715005361,
        0.009496258640205757,
        9.960332417135397e-05,
        -4.9574388050585964e-05,
        -1.1844345020846901e-05,
        -2.817877401985093e-05,
        -8.65297933312433e-05,
        0.000951689086795307,
        0.001428513156786538
      ],
      "target_rad": [
        -0.9405456185340881,
        -0.4408629834651947,
        0.17320770025253296,
        -0.3116493225097656,
        -0.21219021081924438,
        1.5877101421356201,
        0.6862733364105225,
        -4.529618263244629,
        1.1341632604599,
        -3.871568441390991,
        2.0563008785247803,
        1.9984912872314453,
        0.9780074954032898,
        0.4580249786376953
      ],
      "policy_call": 285,
      "body_poses": [
        [
          -0.6627283629298518,
          -0.9277420524410571,
          1.3098095160216823,
          0.7977489014262981,
          0.43747393859407885,
          -0.3674372670483363,
          -0.19288104652393573
        ],
        [
          -0.6552604662675036,
          -0.9192367332813673,
          1.3252736702317354,
          -0.026073724156773663,
          -0.6378629438113353,
          -0.5164661390133638,
          -0.5707133720823113
        ],
        [
          -0.6354426069571254,
          -0.9199589018577907,
          1.3312092346447701,
          -0.5166607630560561,
          -0.4341528430671286,
          0.01121225433694369,
          -0.73786668858795
        ],
        [
          -0.6493097527805048,
          -0.8925353882827294,
          1.3359949602858363,
          -0.7753101865814461,
          0.3787970330310872,
          -0.174278384289491,
          -0.4743774521616021
        ],
        [
          -0.6692317010376321,
          -0.8728603609109387,
          1.3044353316446493,
          -0.07165680739381126,
          -0.04980898769255787,
          -0.9075565642324077,
          0.41076203502494757
        ],
        [
          -0.6652798721455389,
          -0.8256710326418335,
          1.2903800712088462,
          -0.13473713448023736,
          0.10987883359126309,
          -0.40222728573821737,
          -0.8988802796414794
        ],
        [
          -0.6703612195425838,
          -0.9542653438055252,
          1.344097388183352,
          0.23448697648712788,
          0.7806036086293315,
          0.5572468436080239,
          -0.1585869456849622
        ],
        [
          -0.7175787665847561,
          -0.9408161624908432,
          1.334630457673147,
          -0.5446426678484697,
          0.16660001551927392,
          -0.22886326990746614,
          -0.7894494302202906
        ],
        [
          -0.7348797807838591,
          -0.9543319442827524,
          1.325816801346404,
          0.20675776177200228,
          -0.5340286820173984,
          -0.3533763796180673,
          0.7397227379618797
        ],
        [
          -0.7422946658681577,
          -0.9709418414843812,
          1.3399515384906868,
          -0.29782499403061463,
          0.05546080354134615,
          -0.41827532771057524,
          0.8563119305660895
        ],
        [
          -0.6547793152873016,
          -0.9382356751273645,
          1.2958830475355985,
          -0.10228749652380886,
          -0.5629321460353647,
          -0.597255227515886,
          -0.5620772724633669
        ],
        [
          -0.636143954839651,
          -0.935665782616042,
          1.304521276142575,
          0.8957684465134093,
          0.03912918093180259,
          0.3243214424336708,
          -0.3014687370330513
        ],
        [
          -0.6312600102375955,
          -0.9436191020415983,
          1.274854092332191,
          0.404272600972545,
          0.24176345205020916,
          0.8624752591635378,
          -0.18506897278163031
        ],
        [
          -0.6011807591761934,
          -0.9182988908883263,
          1.2901552833691285,
          0.19251115350083273,
          0.2696355436345178,
          -0.35353010365805126,
          -0.8747871713703993
        ],
        [
          -0.5525964497740999,
          -0.9095280220741662,
          1.2885314791424896,
          0.04251347488760768,
          -0.6250999873088429,
          0.641531873941529,
          -0.4425827211228825
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6683886860560663,
            -0.8354812383222784,
            1.2494307067338413
          ],
          "distance_m": -0.00030259131525396443,
          "contact_frame": [
            -0.14330150693293164,
            0.14797764320443083,
            0.978553675187219,
            0.021441474756930257,
            0.9889907062817437,
            -0.14641600338960822,
            -0.9894467854670099,
            0.0,
            -0.14489671745419608
          ],
          "force_torque_contact_frame": [
            1.2780668648565858,
            -0.2269428905181939,
            -0.01977352449933245,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7658498928507426,
            -0.9459999493305552,
            1.2548155280777065
          ],
          "distance_m": -0.0002856745543831745,
          "contact_frame": [
            -0.08325286352471861,
            0.14937226803761106,
            0.9852699560304448,
            0.012576767420084015,
            0.9887810301281574,
            -0.14884186030804988,
            -0.9964490883312582,
            -1.734723475976807e-18,
            -0.08419747243120966
          ],
          "force_torque_contact_frame": [
            2.5787386371263006,
            -0.3060659324554053,
            -0.40332294780068667,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6365300617278994,
            -0.9398017620287309,
            1.2698782662732921
          ],
          "distance_m": -0.00029085784266447097,
          "contact_frame": [
            -0.1432980018025666,
            0.1479836017644423,
            0.9785532874035092,
            0.021441832986434897,
            0.9889898147144,
            -0.14642197304147658,
            -0.9894472853454973,
            3.469446951953614e-18,
            -0.14489330392542835
          ],
          "force_torque_contact_frame": [
            3.0850860124497292,
            -0.43325482546841376,
            -0.40248533401063147,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5367278708941755,
            -0.8956902453581488,
            1.2846571428805422
          ],
          "distance_m": -1.2192649834971208e-05,
          "contact_frame": [
            -0.23834904207858273,
            0.057115711509784485,
            0.9694985970278416,
            0.013635734571888707,
            0.9983675653278863,
            -0.05546414376832953,
            -0.9710838279380969,
            0.0,
            -0.23873876752026058
          ],
          "force_torque_contact_frame": [
            0.1656483610034809,
            -0.08467659393670339,
            -0.0809717670667775,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 172,
      "physics_step": 1147,
      "sim_time_s": 5.7349999999999,
      "qpos": [
        -0.6627907570377028,
        -0.9276748219007931,
        1.309789630273011,
        0.7977381617510612,
        0.4374818883654323,
        -0.36744931798717556,
        -0.19288447669269154,
        -0.264892282760997,
        -0.12497193294430277,
        0.37316711871560476,
        -0.3630180028068614,
        -0.18796597379586205,
        1.049929204796691,
        0.6941293571959603,
        -2.975744635435132,
        0.44021825221025984,
        -0.5336091159879552,
        0.39257489847823684,
        1.5729369010294616,
        0.97985917912748,
        0.4592200441771183
      ],
      "qvel": [
        -0.00178520125894733,
        0.0019229918623712187,
        -0.0005672362741762725,
        0.0006065932926072441,
        -0.0006753055846422439,
        -6.89546801961918e-05,
        2.3184590035456793e-06,
        0.007704822477468415,
        -0.016702829792030655,
        -0.00161561532349049,
        -0.0013759044595741537,
        -0.00010639746541687414,
        0.008593896319009014,
        9.830520359515632e-05,
        -4.3172796189967654e-05,
        -9.51533832964887e-06,
        -2.2585731970240067e-05,
        -6.49872024952589e-05,
        0.00095578565190627,
        0.0013667825277763497
      ],
      "target_rad": [
        -0.9405129551887512,
        -0.4408193528652191,
        0.17334717512130737,
        -0.3116585314273834,
        -0.21218889951705933,
        1.58770751953125,
        0.686165452003479,
        -4.529340744018555,
        1.1342542171478271,
        -3.8713910579681396,
        2.0562210083007812,
        1.9984679222106934,
        0.9779589772224426,
        0.4579780101776123
      ],
      "policy_call": 286,
      "body_poses": [
        [
          -0.6627907570377028,
          -0.9276748219007931,
          1.309789630273011,
          0.7977381617510612,
          0.4374818883654323,
          -0.36744931798717556,
          -0.19288447669269154
        ],
        [
          -0.6553231590012419,
          -0.9191699182130963,
          1.325254157192023,
          -0.02607767451626075,
          -0.6378598602595185,
          -0.5164546395693268,
          -0.5707270440664687
        ],
        [
          -0.6355054629326521,
          -0.9198925204980235,
          1.331190213835184,
          -0.5165635546786932,
          -0.4341474988681708,
          0.011287939044009977,
          -0.7379367355243697
        ],
        [
          -0.6493774357477946,
          -0.892471992135779,
          1.335979054462235,
          -0.775462089119072,
          0.37882310357500554,
          -0.17403657727438418,
          -0.4741970838243343
        ],
        [
          -0.6692762279220924,
          -0.872784741979312,
          1.3044124402045925,
          -0.07185864576499135,
          -0.050017187736175195,
          -0.9075806338278614,
          0.41064827901794937
        ],
        [
          -0.6653076123149496,
          -0.8255928643203744,
          1.2903704754849883,
          -0.13496807980405745,
          0.11007868416171952,
          -0.402092473598806,
          -0.8988814957503708
        ],
        [
          -0.6704249255135352,
          -0.9541986880909415,
          1.3440767657068688,
          0.23448532575412115,
          0.7806110302506202,
          0.5572411383648297,
          -0.1585729017547398
        ],
        [
          -0.7176420852776086,
          -0.9407487935189562,
          1.3346089169640738,
          -0.544527809211807,
          0.16656735636197922,
          -0.22887561897134456,
          -0.7895319701127091
        ],
        [
          -0.7349409689535117,
          -0.9542688009280346,
          1.3257975600404188,
          0.206692974392815,
          -0.533929464398554,
          -0.3534335387818378,
          0.739785154654966
        ],
        [
          -0.7423496184344761,
          -0.9708807456654694,
          1.3399331606611429,
          -0.2979027802016842,
          0.05557384916675358,
          -0.4182949740014337,
          0.8562679461255327
        ],
        [
          -0.6548414810461285,
          -0.9381682805333206,
          1.2958631685135684,
          -0.10229412614249607,
          -0.5629296919479276,
          -0.5972443034356936,
          -0.5620901312901411
        ],
        [
          -0.6362063207443537,
          -0.9355988224074179,
          1.3045019580969759,
          0.8957702296164609,
          0.03914427762168915,
          0.32431188026580327,
          -0.3014717658103469
        ],
        [
          -0.6313216890268825,
          -0.9435516456481986,
          1.274834754395151,
          0.4042803738650975,
          0.24177514298682945,
          0.862470058716663,
          -0.1850609557915211
        ],
        [
          -0.6012424956981829,
          -0.9182321044867001,
          1.2901371675537314,
          0.1925129908449835,
          0.26964027422068665,
          -0.3535311875480963,
          -0.8747848708710876
        ],
        [
          -0.5526582324503996,
          -0.9094609067259524,
          1.2885137592526719,
          0.04252769072522937,
          -0.6250847240443721,
          0.6415441603782215,
          -0.44258510319773925
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6683947531744429,
            -0.83539255634527,
            1.249416687757919
          ],
          "distance_m": -0.0003020418109952728,
          "contact_frame": [
            -0.14330202323814883,
            0.14797730993978253,
            0.9785536499747158,
            0.02144150263884862,
            0.9889907561463785,
            -0.1464156624873265,
            -0.9894467100862185,
            3.469446951953614e-18,
            -0.1448972322011663
          ],
          "force_torque_contact_frame": [
            1.2784206362371116,
            -0.22595059681034607,
            -0.022012873441421332,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7659232896712688,
            -0.9459437229196053,
            1.2548008267128248
          ],
          "distance_m": -0.00028560897917095186,
          "contact_frame": [
            -0.08325196585709356,
            0.14937309089115988,
            0.9852699071313152,
            0.012576702674597916,
            0.9887809058217202,
            -0.14884269156466323,
            -0.9964491641477573,
            1.734723475976807e-18,
            -0.0841965751633397
          ],
          "force_torque_contact_frame": [
            2.5779324868425215,
            -0.30779930429483077,
            -0.3995479442941211,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6365915582137921,
            -0.9397341175793386,
            1.2698589430183433
          ],
          "distance_m": -0.0002910303198552006,
          "contact_frame": [
            -0.14329802922216453,
            0.1479835762417597,
            0.9785532872479367,
            0.021441833308394404,
            0.9889898185333856,
            -0.14642194719944043,
            -0.9894472813674402,
            -3.469446951953614e-18,
            -0.14489333109077615
          ],
          "force_torque_contact_frame": [
            3.0862991876508317,
            -0.4331674383272356,
            -0.40454761140116546,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5367889492648331,
            -0.8956235052783756,
            1.284639301728635
          ],
          "distance_m": -1.005394088651248e-05,
          "contact_frame": [
            -0.23834903180672035,
            0.057115706856767,
            0.9694985998272772,
            0.01363573286975338,
            0.9983675655940811,
            -0.05546413939522427,
            -0.9710838304831895,
            1.734723475976807e-18,
            -0.23873875716794762
          ],
          "force_torque_contact_frame": [
            0.1646461659011083,
            -0.08419084264753324,
            -0.08045532325357509,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 173,
      "physics_step": 1153,
      "sim_time_s": 5.764999999999899,
      "qpos": [
        -0.6628443827725575,
        -0.9276171194605759,
        1.3097726533052754,
        0.7977313818602225,
        0.43748685645685,
        -0.3674575584524644,
        -0.19288555041536468,
        -0.26489460678656085,
        -0.12473725243091784,
        0.3726667911716968,
        -0.3630646887919521,
        -0.18800771071019523,
        1.049926119723001,
        0.6943756051203163,
        -2.9757417834406876,
        0.4402170385723082,
        -0.5336093676697566,
        0.39257431945077614,
        1.5729352171308248,
        0.9798879126856916,
        0.45926034136793376
      ],
      "qvel": [
        -0.0017890213137114262,
        0.001923151708180713,
        -0.0005648437011507997,
        0.0005017029281780069,
        -0.000500672489521111,
        -4.447075631765278e-06,
        -0.0001319521705070212,
        0.007900514905295673,
        -0.016651311078248496,
        -0.0015140465582543336,
        -0.0014028833574978273,
        -0.00010093192070487524,
        0.007934839647637248,
        9.457681616823709e-05,
        -3.82459965289435e-05,
        -7.632159008378334e-06,
        -1.7352933606191927e-05,
        -5.0395559342977915e-05,
        0.0009584230396595182,
        0.0013266328094901712
      ],
      "target_rad": [
        -0.9404782652854919,
        -0.4407607316970825,
        0.17361915111541748,
        -0.31168997287750244,
        -0.21219605207443237,
        1.5877243280410767,
        0.6859534978866577,
        -4.528868675231934,
        1.1344304084777832,
        -3.871107339859009,
        2.0561013221740723,
        1.9984254837036133,
        0.9779025316238403,
        0.45790761709213257
      ],
      "policy_call": 288,
      "body_poses": [
        [
          -0.6628443827725575,
          -0.9276171194605759,
          1.3097726533052754,
          0.7977313818602225,
          0.43748685645685,
          -0.3674575584524644,
          -0.19288555041536468
        ],
        [
          -0.6553770131374914,
          -0.9191124520345022,
          1.325237420445623,
          -0.026081864785758677,
          -0.6378559939774867,
          -0.5164493432183361,
          -0.5707359662450231
        ],
        [
          -0.6355594432845304,
          -0.9198352523094521,
          1.3311738743438306,
          -0.5164773498850029,
          -0.43414111223267116,
          0.01134927148977152,
          -0.7379998887274954
        ],
        [
          -0.649435850052518,
          -0.892417407187472,
          1.3359652315708028,
          -0.7755888007602509,
          0.37884841325598206,
          -0.17382791948222798,
          -0.47404614365816855
        ],
        [
          -0.669314975684516,
          -0.8727200501645648,
          1.3043925317364622,
          -0.07203518751471137,
          -0.05019219849113138,
          -0.9076003952139576,
          0.4105523079679564
        ],
        [
          -0.6653323446334162,
          -0.8255260181787228,
          1.2903617799807598,
          -0.13516293101970134,
          0.11025382911823772,
          -0.4019780578375663,
          -0.898881925649898
        ],
        [
          -0.6704794155825787,
          -0.9541413186612476,
          1.3440593386656743,
          0.2344853030540443,
          0.7806152278577927,
          0.5572379330231605,
          -0.15856353517835112
        ],
        [
          -0.7176963390483283,
          -0.9406910657960748,
          1.3345908204979535,
          -0.5444356325627553,
          0.16654234070295923,
          -0.2288873102419237,
          -0.7895974227157725
        ],
        [
          -0.7349935223059989,
          -0.9542144877622839,
          1.325781365504345,
          0.20664007434818768,
          -0.5338505344775624,
          -0.35347752571804414,
          0.739835877288772
        ],
        [
          -0.7423971851095121,
          -0.9708280044177968,
          1.3399177314245125,
          -0.2979647623428203,
          0.05566494541051431,
          -0.4183088064228959,
          0.8562337045009872
        ],
        [
          -0.6548949234556443,
          -0.9381104810752948,
          1.295846223088185,
          -0.10229889138277692,
          -0.5629271888225709,
          -0.5972379536231568,
          -0.5620985177512903
        ],
        [
          -0.6362599093874302,
          -0.9355412657449674,
          1.304485400321225,
          0.8957718667703057,
          0.03915340140079085,
          0.32430481855283416,
          -0.30147331312241277
        ],
        [
          -0.6313747768823723,
          -0.9434938042797381,
          1.2748182027579056,
          0.40428636334779017,
          0.24178195832516242,
          0.862466418468821,
          -0.18505593222870026
        ],
        [
          -0.6012956792192292,
          -0.9181746328128205,
          1.290121415636577,
          0.19251783207455345,
          0.26964284393403415,
          -0.3535334472962648,
          -0.8747821001205386
        ],
        [
          -0.5527114992919596,
          -0.9094029548722665,
          1.2884981082405824,
          0.04253759891091887,
          -0.6250744484699824,
          0.641551846874384,
          -0.4425875216506996
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6684006753322332,
            -0.8353168738330408,
            1.24940442476763
          ],
          "distance_m": -0.0003019446732320126,
          "contact_frame": [
            -0.1433024690501297,
            0.14797702161300458,
            0.9785536282895696,
            0.021441526630089528,
            0.9889907992871039,
            -0.14641536757194168,
            -0.9894466449990662,
            0.0,
            -0.1448976766552598
          ],
          "force_torque_contact_frame": [
            1.2785587839012664,
            -0.22500878730899587,
            -0.02413122526886552,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7659856106232834,
            -0.9458952526970809,
            1.254788232234372
          ],
          "distance_m": -0.00028555610170306856,
          "contact_frame": [
            -0.08325123299003753,
            0.14937376267787117,
            0.9852698672085195,
            0.012576649814358234,
            0.9887808043360546,
            -0.14884337021174973,
            -0.9964492260447021,
            -1.734723475976807e-18,
            -0.08419584262251023
          ],
          "force_torque_contact_frame": [
            2.5775257865166834,
            -0.30958876911702427,
            -0.3960505148552943,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6366445240592643,
            -0.9396761707410022,
            1.2698423772240248
          ],
          "distance_m": -0.0002911211772948896,
          "contact_frame": [
            -0.14329804707769755,
            0.14798355962144763,
            0.9785532871466344,
            0.021441833518046082,
            0.9889898210203004,
            -0.14642193037116724,
            -0.9894472787769456,
            0.0,
            -0.14489334878074162
          ],
          "force_torque_contact_frame": [
            3.0869149316575273,
            -0.4327473316645517,
            -0.40612263476899946,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5368417584745204,
            -0.8955658044020024,
            1.2846236206396429
          ],
          "distance_m": -8.700374739406513e-06,
          "contact_frame": [
            -0.23834902554778772,
            0.05711570407370196,
            0.9694986015299792,
            0.013635731845085437,
            0.9983675657532978,
            -0.055464136781199595,
            -0.9710838320338101,
            0.0,
            -0.23873875086070767
          ],
          "force_torque_contact_frame": [
            0.16409159888383795,
            -0.08386426403962896,
            -0.080227334844209,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 174,
      "physics_step": 1160,
      "sim_time_s": 5.799999999999899,
      "qpos": [
        -0.6629096876722945,
        -0.9275504664015299,
        1.3097508267430713,
        0.7977133204910704,
        0.43750574597953196,
        -0.3674831809812009,
        -0.19286858801252046,
        -0.2648992442373574,
        -0.12445908129370287,
        0.37208454329771584,
        -0.36311482946292295,
        -0.18805682199778415,
        1.0499242085398277,
        0.6946293522763608,
        -2.975737682998406,
        0.4402158081539438,
        -0.5336093211983268,
        0.3925728433975006,
        1.5729301714339614,
        0.9799480329010481,
        0.45930377907505476
      ],
      "qvel": [
        -0.002324233208013548,
        0.0017715961003504728,
        -0.0009795805941678086,
        0.011307416850160658,
        -0.0037308723815090163,
        0.005281117122343981,
        4.736119879636142e-06,
        0.008756826727813657,
        -0.017181780295090654,
        -0.0012032123775705082,
        -0.0014414907563670783,
        0.0002085321255199884,
        0.0049946756574041126,
        0.00026235594297046796,
        -2.8932646311081e-05,
        4.579654906898664e-05,
        -0.00021087222062356778,
        -0.000763142064262481,
        0.006291310147261252,
        0.0008321724350147171
      ],
      "target_rad": [
        -0.9406424164772034,
        -0.4409935176372528,
        0.17463654279708862,
        -0.3113495111465454,
        -0.21265536546707153,
        1.5886448621749878,
        0.6853882074356079,
        -4.5290374755859375,
        1.1344074010849,
        -3.872519016265869,
        2.056833028793335,
        1.9985711574554443,
        0.9788835048675537,
        0.45858895778656006
      ],
      "policy_call": 290,
      "body_poses": [
        [
          -0.6629096876722945,
          -0.9275504664015299,
          1.3097508267430713,
          0.7977133204910704,
          0.43750574597953196,
          -0.3674831809812009,
          -0.19286858801252046
        ],
        [
          -0.6554435960502386,
          -0.9190460775004301,
          1.325216364086142,
          -0.02609206406410256,
          -0.6378303504614288,
          -0.5164467813444896,
          -0.5707664761196505
        ],
        [
          -0.6356264848996398,
          -0.9197687360879527,
          1.331154366293172,
          -0.5163650291692509,
          -0.43411568820341334,
          0.011434570305814986,
          -0.7380921192565583
        ],
        [
          -0.6495090005699015,
          -0.892354413200782,
          1.3359481809853446,
          -0.7757376453468817,
          0.3788888683897744,
          -0.17355530781926493,
          -0.4738701152528534
        ],
        [
          -0.6693639031831002,
          -0.8726454023626395,
          1.304367512556504,
          -0.07227226882219326,
          -0.050398859504473675,
          -0.9076242259320346,
          0.41043262372917705
        ],
        [
          -0.6653651466183121,
          -0.825448607308869,
          1.2903506483355751,
          -0.13539298917334125,
          0.1104884967928425,
          -0.4018339352747371,
          -0.8988829284288273
        ],
        [
          -0.6705470293102294,
          -0.954075562687185,
          1.3440363038724945,
          0.23449811386971842,
          0.7806202878963642,
          0.5572361166669356,
          -0.15852605778892087
        ],
        [
          -0.7177634172471793,
          -0.9406257081998352,
          1.3345645498397627,
          -0.5443408252757328,
          0.16653810182495937,
          -0.22887755907273033,
          -0.7896665052612928
        ],
        [
          -0.7350580908763324,
          -0.954152866637977,
          1.3257559042991316,
          0.20657126094220452,
          -0.5337860810501388,
          -0.353537784768035,
          0.7398728056708083
        ],
        [
          -0.7424571165959629,
          -0.9707682926278043,
          1.3398924540046582,
          -0.29804905216273825,
          0.055736481650104114,
          -0.41831852121191454,
          0.8561949672412462
        ],
        [
          -0.6549590447474631,
          -0.9380434075999367,
          1.2958247554346007,
          -0.10231176916537432,
          -0.5629035182802263,
          -0.597230661502384,
          -0.5621276260418268
        ],
        [
          -0.6363247191814481,
          -0.9354741813039155,
          1.3044654143758847,
          0.8957852860276144,
          0.039173366552327143,
          0.3242744803072992,
          -0.30146348055911154
        ],
        [
          -0.6314372534566127,
          -0.9434259926203474,
          1.2747984061752518,
          0.40431681520758683,
          0.24178693450595967,
          0.8624550572765075,
          -0.18503584901521652
        ],
        [
          -0.60135961719846,
          -0.9181067191867354,
          1.2901043224930109,
          0.19253439071226275,
          0.2696685368273424,
          -0.3535381630401281,
          -0.8747686299317499
        ],
        [
          -0.5527758053246774,
          -0.9093326499921447,
          1.288482923843253,
          0.04256654976619172,
          -0.6250674746625806,
          0.6415452436411303,
          -0.4426041587258192
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6684089431974245,
            -0.8352286532267081,
            1.2493893778008276
          ],
          "distance_m": -0.00030291289464442,
          "contact_frame": [
            -0.14330304519294557,
            0.14797664810443387,
            0.9785536003991836,
            0.02144155750267417,
            0.9889908551729771,
            -0.1464149855584563,
            -0.9894465608865838,
            0.0,
            -0.14489825102364723
          ],
          "force_torque_contact_frame": [
            1.2711240293213175,
            -0.22207180770969592,
            -0.03376443270719459,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.766056663754749,
            -0.9458388099510805,
            1.2547691718945282
          ],
          "distance_m": -0.00029440789714074527,
          "contact_frame": [
            -0.08325107974580034,
            0.14937390315042748,
            0.9852698588603861,
            0.012576638761061748,
            0.9887807831150476,
            -0.14884351211882582,
            -0.996449238987432,
            0.0,
            -0.08419568944647848
          ],
          "force_torque_contact_frame": [
            2.646118953757306,
            -0.3112245697943239,
            -0.4049371156524901,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6367067046237896,
            -0.9396082435560974,
            1.2698226261868484
          ],
          "distance_m": -0.00029185113728021815,
          "contact_frame": [
            -0.14329811131490275,
            0.1479834998286887,
            0.9785532867820915,
            0.021441834272375362,
            0.98898982996715,
            -0.1464218698302391,
            -0.989447269457356,
            3.469446951953614e-18,
            -0.1448934124223122
          ],
          "force_torque_contact_frame": [
            3.081422810869052,
            -0.43168401194708195,
            -0.426181311788414,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5369054426563276,
            -0.8954953172954172,
            1.284606799618049
          ],
          "distance_m": -2.9136907610546184e-06,
          "contact_frame": [
            -0.23834902151394893,
            0.0571157027619692,
            0.9694986025989669,
            0.0136357313001268,
            0.9983675658283409,
            -0.05546413556438393,
            -0.9710838330315534,
            1.734723475976807e-18,
            -0.23873874680232815
          ],
          "force_torque_contact_frame": [
            0.16331671396285502,
            -0.08266114954059937,
            -0.08065556442225565,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 175,
      "physics_step": 1167,
      "sim_time_s": 5.834999999999898,
      "qpos": [
        -0.6629732886582724,
        -0.9274843534625793,
        1.309732617104073,
        0.7977006486638079,
        0.43751608611057075,
        -0.36749720805444425,
        -0.19287081580171242,
        -0.26491093248454506,
        -0.12419491740554872,
        0.37152150905157577,
        -0.36316062752363254,
        -0.18811097160169737,
        1.0499181483549203,
        0.6948857913955631,
        -2.975737304403562,
        0.4402153146698058,
        -0.5336095135396018,
        0.3925755220201642,
        1.572937120497633,
        0.9800034552780424,
        0.4593566167174362
      ],
      "qvel": [
        -0.0016980779387006251,
        0.0019131444398446124,
        -0.0004579942277221121,
        -0.0007649547009943728,
        -0.0011151630359838036,
        -0.0009596816499446154,
        -0.0002859774723135004,
        0.006983620108658074,
        -0.01540982596031923,
        -0.0015233127159804648,
        -0.0014655110957314899,
        -0.00021469480646838277,
        0.009048109525269256,
        6.108211651542698e-05,
        6.378195830102602e-06,
        2.2512260434715108e-05,
        5.766173421394859e-05,
        0.0004267194286803558,
        0.00025783630563494384,
        0.0016102464785346941
      ],
      "target_rad": [
        -0.9402300715446472,
        -0.44066861271858215,
        0.17410868406295776,
        -0.3118896782398224,
        -0.2123652696609497,
        1.5877782106399536,
        0.6858005523681641,
        -4.528431415557861,
        1.1346096992492676,
        -3.870523452758789,
        2.0558583736419678,
        1.9983890056610107,
        0.9780231714248657,
        0.4577587842941284
      ],
      "policy_call": 291,
      "body_poses": [
        [
          -0.6629732886582724,
          -0.9274843534625793,
          1.309732617104073,
          0.7977006486638079,
          0.43751608611057075,
          -0.36749720805444425,
          -0.19287081580171242
        ],
        [
          -0.6555076071792375,
          -0.9189804307506381,
          1.325198608781393,
          -0.026100259487638486,
          -0.6378214033337045,
          -0.5164390902285589,
          -0.5707830586028301
        ],
        [
          -0.6356907414989611,
          -0.9197033578701876,
          1.3311373974617304,
          -0.5162673956776512,
          -0.4341031410232842,
          0.011509792231845499,
          -0.7381666233288494
        ],
        [
          -0.6495783012696932,
          -0.8922920623341712,
          1.3359339129314765,
          -0.7758826584676322,
          0.3789195498040642,
          -0.17331299584957657,
          -0.4736968234378728
        ],
        [
          -0.6694104943239141,
          -0.8725715234798932,
          1.3043461724240102,
          -0.07247975576013974,
          -0.05060306197986755,
          -0.9076463575447175,
          0.41032195256776177
        ],
        [
          -0.6653954046953299,
          -0.8253722685411442,
          1.2903422662367556,
          -0.13562270464196075,
          0.11069555229188022,
          -0.4017012751496635,
          -0.8988821180953211
        ],
        [
          -0.6706121347112147,
          -0.9540101659415019,
          1.344017204976213,
          0.23449669827741015,
          0.7806277192980718,
          0.557231294775389,
          -0.15850850602863276
        ],
        [
          -0.717828126318677,
          -0.9405597076795081,
          1.3345443327050155,
          -0.5442481992872228,
          0.16651339915044494,
          -0.2288819256511978,
          -0.7897342904966083
        ],
        [
          -0.7351209529326403,
          -0.9540902737917619,
          1.3257372948379835,
          0.20651903086101409,
          -0.5337071837165783,
          -0.3535892454989226,
          0.7399197101098539
        ],
        [
          -0.7425149969050435,
          -0.9707075139429564,
          1.3398743186935091,
          -0.2981154531933139,
          0.05582351279052103,
          -0.4183373985958281,
          0.85615695577572
        ],
        [
          -0.6550223136116535,
          -0.937977067347091,
          1.2958065641404433,
          -0.10231888080155088,
          -0.5628991148125164,
          -0.5972186057131537,
          -0.5621435494291843
        ],
        [
          -0.6363882469217342,
          -0.9354082887223788,
          1.3044479144384502,
          0.895788745544543,
          0.0391916171999439,
          0.32426258326965934,
          -0.3014636256470681
        ],
        [
          -0.6314998431966731,
          -0.9433594071288777,
          1.2747808750663348,
          0.4043283031319232,
          0.24180293248774004,
          0.8624482370267554,
          -0.1850216300226331
        ],
        [
          -0.6014224071192824,
          -0.918041038958358,
          1.2900886821138022,
          0.19254130618824822,
          0.26967556777259305,
          -0.3535384963993343,
          -0.8747648056029417
        ],
        [
          -0.552838740806266,
          -0.9092660846008365,
          1.2884677121545178,
          0.0425840399010759,
          -0.6250543828730704,
          0.6415548598221309,
          -0.4426070264190076
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6684168692454048,
            -0.8351422399805364,
            1.2493760569923686
          ],
          "distance_m": -0.0003011357293605338,
          "contact_frame": [
            -0.1433035693496599,
            0.1479763085245563,
            0.9785535749907067,
            0.02144158562276769,
            0.988990905982176,
            -0.1464146382385866,
            -0.9894464843626607,
            0.0,
            -0.1448987735709701
          ],
          "force_torque_contact_frame": [
            1.3124169665658976,
            -0.23590674864725356,
            -0.040486190688396095,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7649980139931334,
            -0.9453893127496558,
            1.2548621498215196
          ],
          "distance_m": -0.00015435286052313437,
          "contact_frame": [
            -0.08612707467845873,
            0.14936286713422542,
            0.9850242945880955,
            0.013010128576424328,
            0.9887824502495196,
            -0.1487951700593174,
            -0.9961992087739059,
            0.0,
            -0.08710417003934945
          ],
          "force_torque_contact_frame": [
            2.4113017507217545,
            -0.3102587193184729,
            -0.3221650378850419,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6367689625978742,
            -0.939541588503442,
            1.2698042363365458
          ],
          "distance_m": -0.00029027143964029177,
          "contact_frame": [
            -0.14329814835103807,
            0.14798346535409815,
            0.9785532865720479,
            0.02144183470714725,
            0.9889898351256158,
            -0.14642183492429997,
            -0.9894472640841228,
            0.0,
            -0.14489344911501262
          ],
          "force_torque_contact_frame": [
            3.1781778136197127,
            -0.4599218116597995,
            -0.4209953753579141,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5370282915784635,
            -0.894898108972185,
            1.284527828030593
          ],
          "distance_m": -2.9277604672319273e-05,
          "contact_frame": [
            -0.23829408106035013,
            0.05711649248750103,
            0.9695120614089999,
            0.013632777318174335,
            0.998367520648546,
            -0.05546567494106451,
            -0.9710973577938495,
            -1.734723475976807e-18,
            -0.2386837273167227
          ],
          "force_torque_contact_frame": [
            0.10188996006822651,
            -0.061710852034081436,
            -0.04017910803414508,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 176,
      "physics_step": 1173,
      "sim_time_s": 5.864999999999897,
      "qpos": [
        -0.6630316235942001,
        -0.9274289531307593,
        1.3097130881172525,
        0.7976689220141555,
        0.43754720271038855,
        -0.36754098874833363,
        -0.1928480174722786,
        -0.26491778902340235,
        -0.12397248967490034,
        0.37104842041992864,
        -0.36319773426562035,
        -0.18815726135918107,
        1.04991641468531,
        0.6950949034149673,
        -2.9757347822400333,
        0.44021544625500086,
        -0.5336089175999856,
        0.39257576372615066,
        1.5729370371671383,
        0.9800630548823316,
        0.4593994629280216
      ],
      "qvel": [
        -0.0021903281901880407,
        0.0017909339881757207,
        -0.0008816378207529559,
        0.008782351382530482,
        -0.0035119789343544183,
        0.004105448404422415,
        -2.6256772960543716e-05,
        0.0077247749424388746,
        -0.01601794293645089,
        -0.0011155802737952043,
        -0.00151953869002116,
        0.0001333480524637095,
        0.00545838185348034,
        0.00022790047677674686,
        -3.196976072849482e-07,
        5.44405685433356e-05,
        -0.0001402661462925997,
        -0.0004641211438210889,
        0.003491848674995502,
        0.0011195501742380285
      ],
      "target_rad": [
        -0.9400818943977356,
        -0.440531849861145,
        0.17425602674484253,
        -0.3119286298751831,
        -0.21226119995117188,
        1.5876617431640625,
        0.6856693029403687,
        -4.527883529663086,
        1.1348837614059448,
        -3.8700063228607178,
        2.0556039810180664,
        1.9983470439910889,
        0.9777492880821228,
        0.45757561922073364
      ],
      "policy_call": 293,
      "body_poses": [
        [
          -0.6630316235942001,
          -0.9274289531307593,
          1.3097130881172525,
          0.7976689220141555,
          0.43754720271038855,
          -0.36754098874833363,
          -0.1928480174722786
        ],
        [
          -0.6555679512258455,
          -0.9189256423419041,
          1.32518038589049,
          -0.02611808728728692,
          -0.6377822493977033,
          -0.516429926847214,
          -0.5708342828932423
        ],
        [
          -0.6357518434082091,
          -0.9196485791932046,
          1.331121701676479,
          -0.5161720896142593,
          -0.4340642886519041,
          0.011603184934613087,
          -0.7382546534358861
        ],
        [
          -0.6496446191778553,
          -0.8922402181289667,
          1.335919881038143,
          -0.7760132015257446,
          0.3789592639943383,
          -0.17306257547888404,
          -0.47354274596835577
        ],
        [
          -0.6694550883174264,
          -0.8725095370412741,
          1.3043248431255865,
          -0.07270083372773829,
          -0.050787175209225766,
          -0.9076672760630703,
          0.41021380714672045
        ],
        [
          -0.6654257834204329,
          -0.8253077764557263,
          1.290333470795765,
          -0.1358287732635498,
          0.11091479074980498,
          -0.40157027777394333,
          -0.8988825093165433
        ],
        [
          -0.6706745285113114,
          -0.9539563323172382,
          1.3439955591509276,
          0.2345150292586224,
          0.7806398590024255,
          0.5572241623197043,
          -0.15844666142145863
        ],
        [
          -0.7178894800058296,
          -0.940505938919345,
          1.3345174120317802,
          -0.544179467992178,
          0.16652776608254607,
          -0.22884743080781064,
          -0.7897886192849155
        ],
        [
          -0.7351796988189315,
          -0.9540393575372418,
          1.3257096369711974,
          0.20645837865373884,
          -0.5336745229358002,
          -0.35365434864761913,
          0.7399290798012641
        ],
        [
          -0.7425708100756692,
          -0.9706585180648748,
          1.3398459369732238,
          -0.2981986908202506,
          0.05585180110854608,
          -0.4183469625434115,
          0.8561214493497539
        ],
        [
          -0.655078814934946,
          -0.937920988470917,
          1.2957875709329545,
          -0.10234131435010971,
          -0.5628637664201075,
          -0.5972021830515892,
          -0.5621923055208784
        ],
        [
          -0.6364458485329698,
          -0.9353524337703791,
          1.304431360021842,
          0.8958094250838248,
          0.03922889117632823,
          0.3242135165129843,
          -0.30145010157296265
        ],
        [
          -0.6315536718466546,
          -0.943302194147983,
          1.2747645786458897,
          0.40437757502676175,
          0.24181966877593963,
          0.8624281563438754,
          -0.18498567445582392
        ],
        [
          -0.6014783676227169,
          -0.9179842416044756,
          1.2900772609469207,
          0.19254315614439865,
          0.26972542837709085,
          -0.35353799827627475,
          -0.8747492269693955
        ],
        [
          -0.5528949417502412,
          -0.9092070996241725,
          1.2884609351285055,
          0.042636142875444365,
          -0.6250339919276306,
          0.6415540398100629,
          -0.44263199416570087
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6684244613926468,
            -0.8350681031507952,
            1.2493635149980211
          ],
          "distance_m": -0.0003015635061791695,
          "contact_frame": [
            -0.14330410051518291,
            0.14797596367700813,
            0.9785535493519991,
            0.021441614010811728,
            0.9889909575794212,
            -0.14641428555557887,
            -0.9894464068175425,
            0.0,
            -0.1448993030896087
          ],
          "force_torque_contact_frame": [
            1.2608758933914932,
            -0.21757789024679558,
            -0.026192899167409744,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7661887925735684,
            -0.9457321070300666,
            1.2547339941897306
          ],
          "distance_m": -0.00030982387576474396,
          "contact_frame": [
            -0.08325100513438975,
            0.1493739715433616,
            0.9852698547958711,
            0.01257663337940898,
            0.9887807727830084,
            -0.14884358121019847,
            -0.9964492452889682,
            0.0,
            -0.08419561486827122
          ],
          "force_torque_contact_frame": [
            2.667572867524736,
            -0.31785403871089457,
            -0.4154857304895069,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6368222068990009,
            -0.9394841717261742,
            1.26978760141253
          ],
          "distance_m": -0.00029057467137365045,
          "contact_frame": [
            -0.14329825742731872,
            0.14798336382364086,
            0.9785532859531636,
            0.021441835987850065,
            0.9889898503177068,
            -0.14642173212344609,
            -0.989447248259231,
            -3.469446951953614e-18,
            -0.14489355717986901
          ],
          "force_torque_contact_frame": [
            3.0486767551589375,
            -0.4185282654427265,
            -0.41283796206083956,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5370828234336843,
            -0.8948390463553084,
            1.2845173542895922
          ],
          "distance_m": -1.6850324056836157e-05,
          "contact_frame": [
            -0.2382940871231197,
            0.057116486514505016,
            0.969512060270731,
            0.013632776234701575,
            0.9983675209902605,
            -0.05546566905659923,
            -0.971097356321339,
            1.734723475976807e-18,
            -0.23868373330771075
          ],
          "force_torque_contact_frame": [
            0.18541103332109715,
            -0.09138290992590814,
            -0.09402812339518901,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 177,
      "physics_step": 1180,
      "sim_time_s": 5.899999999999896,
      "qpos": [
        -0.6630955053934449,
        -0.9273628312660336,
        1.3096931248786823,
        0.79765615951253,
        0.4375564784783292,
        -0.36755918301734936,
        -0.19284508371484457,
        -0.26493214301582235,
        -0.12369108034051651,
        0.3704928602844959,
        -0.36324170157789726,
        -0.18820825191979573,
        1.049912355874298,
        0.6953340207345783,
        -2.9757318555933194,
        0.4402166199237341,
        -0.5336088648359391,
        0.3925747683830466,
        1.5729381110457008,
        0.9801080333317844,
        0.4594444885700181
      ],
      "qvel": [
        -0.0017374519215505083,
        0.0019106534026111233,
        -0.0004912392174833745,
        -0.0009590934376281454,
        -0.0001305193494711617,
        -0.000727938083519797,
        -0.0006065162515191344,
        0.008480653545805123,
        -0.01593444595771723,
        -0.001228626217442576,
        -0.0014358542921368298,
        -0.00017460424369004218,
        0.006815002880913514,
        5.071095287018959e-05,
        4.045245671224208e-05,
        -1.6135126601359367e-05,
        4.77087387905752e-06,
        0.00013934031466266076,
        0.000755215639442018,
        0.0012999021713223928
      ],
      "target_rad": [
        -0.9399594664573669,
        -0.44030311703681946,
        0.17458033561706543,
        -0.3116612732410431,
        -0.2120426893234253,
        1.5876296758651733,
        0.6852587461471558,
        -4.526764869689941,
        1.135369062423706,
        -3.8696389198303223,
        2.0553765296936035,
        1.9983367919921875,
        0.9771895408630371,
        0.45744001865386963
      ],
      "policy_call": 295,
      "body_poses": [
        [
          -0.6630955053934449,
          -0.9273628312660336,
          1.3096931248786823,
          0.79765615951253,
          0.4375564784783292,
          -0.36755918301734936,
          -0.19284508371484457
        ],
        [
          -0.6556324426764127,
          -0.918859849961617,
          1.325160897951054,
          -0.026131000781720364,
          -0.6377684592154033,
          -0.5164261491745692,
          -0.570852516572261
        ],
        [
          -0.6358166501826532,
          -0.9195829086994209,
          1.3311032505075717,
          -0.5160682216814633,
          -0.43404476745547366,
          0.011680961355367114,
          -0.7383375146617379
        ],
        [
          -0.6497149910937361,
          -0.8921778007774342,
          1.3359038941835373,
          -0.7761547817929813,
          0.3789945270607951,
          -0.17281041822981758,
          -0.47337454780447474
        ],
        [
          -0.6695026761945303,
          -0.8724359539077166,
          1.3043015543186725,
          -0.07291941159400722,
          -0.05098606460347588,
          -0.9076894452539653,
          0.41010126993656576
        ],
        [
          -0.6654577262726725,
          -0.8252316465223261,
          1.2903232946131427,
          -0.13605178301835208,
          0.11113206503093159,
          -0.4014348718195282,
          -0.8988824284336235
        ],
        [
          -0.6707401855709254,
          -0.9538907146957417,
          1.343974809901065,
          0.23451982575833225,
          0.780646830307661,
          0.5572182049633645,
          -0.15842616486644742
        ],
        [
          -0.7179546557783669,
          -0.9404398823573729,
          1.3344948883594216,
          -0.5440936219502497,
          0.16651189701158428,
          -0.22884970295286128,
          -0.7898504492402666
        ],
        [
          -0.7352430069151528,
          -0.9539765522752047,
          1.3256884435536636,
          0.20640423008060943,
          -0.5336068526897765,
          -0.3537014945113077,
          0.7399704543749099
        ],
        [
          -0.7426296472858082,
          -0.9705973071719356,
          1.3398252059375124,
          -0.29826503144874494,
          0.05592788278038628,
          -0.418358998156191,
          0.8560874906248379
        ],
        [
          -0.6551421743736516,
          -0.9378547070896232,
          1.2957677858382146,
          -0.10235250393125736,
          -0.5628549083049952,
          -0.5971925378956434,
          -0.56220938254154
        ],
        [
          -0.636509568789629,
          -0.9352864723617655,
          1.3044124477479064,
          0.8958147507950445,
          0.03924449770614865,
          0.3241959472233629,
          -0.3014511394268603
        ],
        [
          -0.6316161597579929,
          -0.9432357994815675,
          1.2747457535203475,
          0.40439385252193505,
          0.241831891926041,
          0.8624193563852136,
          -0.1849751383890672
        ],
        [
          -0.6015412684274978,
          -0.9179184308926029,
          1.2900602121656741,
          0.19254790204366184,
          0.26973679831633984,
          -0.35354242943900993,
          -0.8747428854463458
        ],
        [
          -0.5529579514492823,
          -0.9091405092707255,
          1.2884448473788777,
          0.04265342950748986,
          -0.6250202351632841,
          0.6415602199769306,
          -0.44264079650528904
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6684316666176154,
            -0.8349797674207065,
            1.2493492099164285
          ],
          "distance_m": -0.00030135024927783593,
          "contact_frame": [
            -0.14331914661117173,
            0.1479621049616781,
            0.9785534414174603,
            0.021441811972186416,
            0.9889930310650877,
            -0.14640025001358453,
            -0.9894442232455527,
            0.0,
            -0.14491421285024164
          ],
          "force_torque_contact_frame": [
            1.3100580912732156,
            -0.23612580231570865,
            -0.045026263218476636,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7651260589237731,
            -0.9452809056735767,
            1.2548255266135668
          ],
          "distance_m": -0.00017279278899499828,
          "contact_frame": [
            -0.08612743262757266,
            0.14936277303551518,
            0.9850242775587433,
            0.013010174263820083,
            0.9887824644638176,
            -0.14879507160683733,
            -0.9961991772304409,
            0.0,
            -0.08710453079715216
          ],
          "force_torque_contact_frame": [
            2.429124426164562,
            -0.309249526471203,
            -0.32596168518147073,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6368844170266296,
            -0.9394176530450522,
            1.2697685208135898
          ],
          "distance_m": -0.00029040091693525256,
          "contact_frame": [
            -0.14329829388197776,
            0.14798332989056986,
            0.9785532857463681,
            0.02144183641582454,
            0.9889898553951394,
            -0.14642169776579647,
            -0.9894472429703522,
            3.469446951953614e-18,
            -0.14489359329648996
          ],
          "force_torque_contact_frame": [
            3.178750625151471,
            -0.46058970644922004,
            -0.4260188285385125,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5371450167951427,
            -0.8947726760528534,
            1.2845002514145067
          ],
          "distance_m": -1.279091199974474e-05,
          "contact_frame": [
            -0.23829408932573232,
            0.05711648436806734,
            0.9695120598558082,
            0.013632775846716209,
            0.9983675211130579,
            -0.055465666941639416,
            -0.9710973557862944,
            1.734723475976807e-18,
            -0.2386837354845673
          ],
          "force_torque_contact_frame": [
            0.09920213372370479,
            -0.05937547722193158,
            -0.039826656501773215,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 178,
      "physics_step": 1187,
      "sim_time_s": 5.934999999999896,
      "qpos": [
        -0.6631633269018092,
        -0.927297522790272,
        1.3096701312316266,
        0.7976314017033429,
        0.43758560461794055,
        -0.3675941557272813,
        -0.19281473575185953,
        -0.26495385398747145,
        -0.12337410356769905,
        0.36992366882860744,
        -0.36327756964762886,
        -0.18825912173776463,
        1.049911456708235,
        0.6955189371587056,
        -2.975727152411289,
        0.4402180921293283,
        -0.53360874764686,
        0.3925719770594713,
        1.5729310841959427,
        0.9801741218873898,
        0.45948060257183426
      ],
      "qvel": [
        -0.0022203903176503895,
        0.0017996431008915374,
        -0.0008894551845332768,
        0.008585499457358994,
        -0.0025169572121846863,
        0.004184842172499645,
        -0.0005790682926357965,
        0.009747564992667046,
        -0.016724215353602318,
        -0.0008418667396968335,
        -0.0014699893531917854,
        0.0001727659178864953,
        0.0038372637790331536,
        0.00022321810225766972,
        4.825585443045979e-05,
        2.614007879760027e-05,
        -0.0002043832892239556,
        -0.0006643341639413105,
        0.0033396973864806487,
        0.0006723241162533744
      ],
      "target_rad": [
        -0.9398313760757446,
        -0.4401753544807434,
        0.1745869517326355,
        -0.31173527240753174,
        -0.21194452047348022,
        1.5874170064926147,
        0.685221791267395,
        -4.526330947875977,
        1.1355221271514893,
        -3.869056463241577,
        2.0550739765167236,
        1.9982712268829346,
        0.9769030213356018,
        0.4571995139122009
      ],
      "policy_call": 296,
      "body_poses": [
        [
          -0.6631633269018092,
          -0.927297522790272,
          1.3096701312316266,
          0.7976314017033429,
          0.43758560461794055,
          -0.3675941557272813,
          -0.19281473575185953
        ],
        [
          -0.6557022455883843,
          -0.9187948202137446,
          1.3251390133673717,
          -0.02614728251994939,
          -0.6377237067533365,
          -0.5164318436648571,
          -0.5708966143799797
        ],
        [
          -0.6358871623875052,
          -0.9195172365097107,
          1.3310838087749164,
          -0.5159332742585324,
          -0.4340015091632387,
          0.011779516441881986,
          -0.7384556787981907
        ],
        [
          -0.6497932367941271,
          -0.89211642468527,
          1.3358865794293497,
          -0.7762981646600067,
          0.3790445826324576,
          -0.17250182851600443,
          -0.4732118796914613
        ],
        [
          -0.6695561138160427,
          -0.8723634312665843,
          1.3042756821433188,
          -0.07319450866150581,
          -0.05118509996849527,
          -0.9077160398917913,
          0.40996858460884505
        ],
        [
          -0.6654964074665966,
          -0.8251559007979846,
          1.2903125932510824,
          -0.1362752998655373,
          0.11140368351399892,
          -0.4012740905713846,
          -0.8988867371266409
        ],
        [
          -0.6708110519753762,
          -0.9538267415046725,
          1.3439501037790578,
          0.23454062812674134,
          0.7806509577044511,
          0.557219589939388,
          -0.15837015053606973
        ],
        [
          -0.7180248760874883,
          -0.9403770392701031,
          1.334465362216318,
          -0.5440239998004742,
          0.16652938362555386,
          -0.2288195254172967,
          -0.7899034604419646
        ],
        [
          -0.735310616529528,
          -0.953916658030607,
          1.3256583258929773,
          0.2063397689896985,
          -0.5335758185527018,
          -0.35376191467749185,
          0.7399819276933777
        ],
        [
          -0.7426943306589566,
          -0.9705391487060925,
          1.3397945760817038,
          -0.2983488156039815,
          0.055957530827735955,
          -0.4183628134913164,
          0.8560544931597489
        ],
        [
          -0.6552081279825054,
          -0.937788712355311,
          1.295745342124975,
          -0.102368408741069,
          -0.5628163141356173,
          -0.5971860445866908,
          -0.5622520196366775
        ],
        [
          -0.6365765643932639,
          -0.9352202058483177,
          1.3043921688575737,
          0.8958362678328833,
          0.03927060286770048,
          0.3241514300309731,
          -0.30143166952815875
        ],
        [
          -0.6316796449870633,
          -0.9431684829656867,
          1.274725772527809,
          0.4044398614507694,
          0.24183353635622923,
          0.862403937474121,
          -0.18494428294017437
        ],
        [
          -0.6016072001640738,
          -0.9178505688836253,
          1.2900441331878667,
          0.19256809859490912,
          0.26978023266243834,
          -0.353545775518777,
          -0.8747236924200514
        ],
        [
          -0.553024393724004,
          -0.909069189126085,
          1.2884322126065157,
          0.04269655700612253,
          -0.6250156840951612,
          0.6415445466313974,
          -0.44266578063183926
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6684426602672465,
            -0.8348925377328698,
            1.2493340949642737
          ],
          "distance_m": -0.00030196362318743876,
          "contact_frame": [
            -0.14332000116122456,
            0.14796149185017723,
            0.9785534089647926,
            0.02144184898265282,
            0.9889931227917967,
            -0.146399624940555,
            -0.9894440986631593,
            0.0,
            -0.14491506347046293
          ],
          "force_torque_contact_frame": [
            1.2555594582173555,
            -0.214975461190574,
            -0.02971166929114527,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7663285384375373,
            -0.9456170982037457,
            1.254694852866005
          ],
          "distance_m": -0.00032930086854189144,
          "contact_frame": [
            -0.08325108374310275,
            0.1493738994862206,
            0.9852698590781509,
            0.012576639049378134,
            0.9887807836685948,
            -0.14884350841720034,
            -0.9964492386498273,
            0.0,
            -0.08419569344200123
          ],
          "force_torque_contact_frame": [
            2.692481394803049,
            -0.3206188485151158,
            -0.4186660191770607,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6369475105734358,
            -0.9393502471762485,
            1.2697485703093425
          ],
          "distance_m": -0.00029141389732937126,
          "contact_frame": [
            -0.1432983884476597,
            0.14798324186597003,
            0.9785532852099275,
            0.021441837525994444,
            0.9889898685663253,
            -0.14642160863981463,
            -0.9894472292506622,
            3.469446951953614e-18,
            -0.14489368698527727
          ],
          "force_torque_contact_frame": [
            3.039663859148462,
            -0.41485723152401643,
            -0.41669242762991565,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5372107016739913,
            -0.8947008019185478,
            1.2844846759155406
          ],
          "distance_m": -3.47717198350564e-06,
          "contact_frame": [
            -0.23829409090934955,
            0.05711648277689719,
            0.9695120595603147,
            0.01363277555628529,
            0.9983675212040886,
            -0.055465665374495814,
            -0.9710973554017736,
            0.0,
            -0.2386837370490109
          ],
          "force_torque_contact_frame": [
            0.18975906965939793,
            -0.0925235262089168,
            -0.09723554345048115,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 179,
      "physics_step": 1193,
      "sim_time_s": 5.964999999999895,
      "qpos": [
        -0.6632202663421574,
        -0.9272410854882457,
        1.3096518251109557,
        0.7976197902273858,
        0.43760167570910113,
        -0.3676102014003453,
        -0.1927957039993532,
        -0.2649771930031594,
        -0.1231024416055356,
        0.36943928757238315,
        -0.3633033825393341,
        -0.18830416512312265,
        1.0499101761979708,
        0.6956583154529928,
        -2.975724245346865,
        0.4402191654061972,
        -0.5336089155526205,
        0.3925708996042949,
        1.572927085909057,
        0.98023379634781,
        0.4595111489696301
      ],
      "qvel": [
        -0.001914012735302042,
        0.001878131204477081,
        -0.000588480521848106,
        0.001614987599060997,
        -7.252120943181594e-05,
        0.0007908900202771071,
        -0.0008021518600619124,
        0.00868867895613068,
        -0.01603215335300756,
        -0.0007068102035108105,
        -0.0015860636624802451,
        -6.557288029652726e-05,
        0.00413310704174113,
        7.389255989305986e-06,
        3.1416521792157386e-05,
        -3.0401279665444736e-05,
        3.3215984226322526e-05,
        -0.00011162743288824152,
        0.0024042356473185254,
        0.0010814959776881245
      ],
      "target_rad": [
        -0.9399994015693665,
        -0.4404698610305786,
        0.17585593461990356,
        -0.31126514077186584,
        -0.21256965398788452,
        1.5886459350585938,
        0.6845070719718933,
        -4.526638031005859,
        1.1354296207427979,
        -3.870997428894043,
        2.0560688972473145,
        1.9984936714172363,
        0.9781998991966248,
        0.458109974861145
      ],
      "policy_call": 298,
      "body_poses": [
        [
          -0.6632202663421574,
          -0.9272410854882457,
          1.3096518251109557,
          0.7976197902273858,
          0.43760167570910113,
          -0.3676102014003453,
          -0.1927957039993532
        ],
        [
          -0.6557602677079423,
          -0.9187384480578822,
          1.3251212652141169,
          -0.02615692680382955,
          -0.6376955089376022,
          -0.5164416241200913,
          -0.5709188225458982
        ],
        [
          -0.6359455775945322,
          -0.9194602233415947,
          1.3310674485403649,
          -0.5158212612265648,
          -0.4339737379561872,
          0.011848884233942869,
          -0.7385491352465197
        ],
        [
          -0.6498581024877506,
          -0.8920630182795569,
          1.3358721135530613,
          -0.7764141248123846,
          0.3790845751206934,
          -0.17225576799817766,
          -0.47307921333402625
        ],
        [
          -0.6696009810303292,
          -0.8723010141281501,
          1.3042543523549188,
          -0.07341448294152043,
          -0.05134843156045135,
          -0.907736841751619,
          0.4098627555627711
        ],
        [
          -0.6655290716032419,
          -0.8250909452975033,
          1.290303404192762,
          -0.13646010811868356,
          0.11162177155352718,
          -0.40114554069356273,
          -0.8988890221763526
        ],
        [
          -0.6708693173416093,
          -0.9537710205767872,
          1.3439309474050805,
          0.2345521800888143,
          0.7806503541970804,
          0.5572238767771375,
          -0.15834093108547614
        ],
        [
          -0.7180829400772626,
          -0.940322337980283,
          1.3344437579058726,
          -0.5439669222127702,
          0.16653425683180184,
          -0.22880759808824214,
          -0.7899451955021536
        ],
        [
          -0.7353669310229756,
          -0.9538642874191222,
          1.32563687139619,
          0.20629329211741662,
          -0.5335426888959959,
          -0.35380201165796443,
          0.7399996035808173
        ],
        [
          -0.7427480185557744,
          -0.970487982897088,
          1.3397730765265996,
          -0.2984066291397217,
          0.055993349494865244,
          -0.4183662848253332,
          0.8560303033300064
        ],
        [
          -0.655264025726753,
          -0.9377318693534009,
          1.295727325509017,
          -0.10237442610008499,
          -0.5627939792626713,
          -0.5971854403354733,
          -0.562273922245816
        ],
        [
          -0.6366330166477377,
          -0.9351630550054091,
          1.3043752555239512,
          0.8958486261963208,
          0.03928212747200893,
          0.32412868428473407,
          -0.301417898319402
        ],
        [
          -0.631734230626167,
          -0.9431107783076754,
          1.2747090189944303,
          0.4044642950034522,
          0.2418302158730315,
          0.8623970776401267,
          -0.18492717819707538
        ],
        [
          -0.6016632644464519,
          -0.9177922948330955,
          1.290029341183466,
          0.192593898307114,
          0.2697992925967707,
          -0.35355023530306773,
          -0.8747103310046684
        ],
        [
          -0.553080958131302,
          -0.9090079728388298,
          1.2884183786755212,
          0.04271715802442864,
          -0.6250207560270271,
          0.6415291321263835,
          -0.4426789712408852
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.668583880064784,
            -0.8349726359722164,
            1.2493259286131584
          ],
          "distance_m": -0.00030118049771739926,
          "contact_frame": [
            -0.1433222895158731,
            0.14796247987532132,
            0.9785529244129177,
            0.021442337726131574,
            0.9889929749746178,
            -0.14640055192414195,
            -0.9894437566030556,
            0.0,
            -0.1449173989527594
          ],
          "force_torque_contact_frame": [
            1.3181965994187892,
            -0.2457366361178883,
            -0.08868517062545994,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7663875219302994,
            -0.945567687392299,
            1.2546781506897775
          ],
          "distance_m": -0.0003376206292771398,
          "contact_frame": [
            -0.08325119176831133,
            0.14937380046406804,
            0.9852698649629332,
            0.012576646841093565,
            0.9887807986277447,
            -0.14884340838382337,
            -0.9964492295262163,
            0.0,
            -0.08419580141913098
          ],
          "force_torque_contact_frame": [
            2.5241137114360654,
            -0.2709638836459855,
            -0.3925173159820925,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6370019135990787,
            -0.9392925630892301,
            1.2697317244602353
          ],
          "distance_m": -0.00029171873557111953,
          "contact_frame": [
            -0.14329843792813057,
            0.14798319580956132,
            0.9785532849290052,
            0.02144183810709613,
            0.988989875457777,
            -0.14642156200710346,
            -0.9894472220719744,
            0.0,
            -0.14489373600695515
          ],
          "force_torque_contact_frame": [
            3.2815995192158973,
            -0.5131973570614276,
            -0.46084846576983196,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    },
    {
      "frame": 180,
      "physics_step": 1200,
      "sim_time_s": 5.999999999999894,
      "qpos": [
        -0.6632850734562711,
        -0.9271733001623415,
        1.3096310036302339,
        0.7976243904341052,
        0.43761069688253823,
        -0.367601735886307,
        -0.19277233601317378,
        -0.2650023737241251,
        -0.12279551458177097,
        0.36887592705525524,
        -0.3633225905081393,
        -0.18836324507058705,
        1.0499130201394014,
        0.6957823288826711,
        -2.975722229120656,
        0.4402195109167232,
        -0.5336091826469465,
        0.3925696495365001,
        1.5729162735020639,
        0.980555794869066,
        0.4595416303122588
      ],
      "qvel": [
        -0.0020554077859349955,
        0.001843387047027316,
        -0.000689488059581661,
        0.005378938355316,
        -0.0017418410388910861,
        0.002625303101900758,
        -0.000568060896625703,
        0.00799713846564992,
        -0.015454039315153538,
        -0.0007062367326511731,
        -0.0016618142492134489,
        -3.995992282113646e-05,
        0.003709665843992983,
        0.0001587965221222986,
        -2.5092253750932128e-05,
        3.587720053719218e-05,
        -6.703346672733834e-05,
        -5.2045258274878176e-05,
        0.0036834934299369996,
        0.0009147475387860857
      ],
      "target_rad": [
        -0.9397410154342651,
        -0.44033539295196533,
        0.1756947636604309,
        -0.31171172857284546,
        -0.2126714587211609,
        1.5880227088928223,
        0.6846910715103149,
        -4.526141166687012,
        1.1352269649505615,
        -3.869413137435913,
        2.0552849769592285,
        1.998237133026123,
        0.9779530763626099,
        0.45746320486068726
      ],
      "policy_call": 299,
      "body_poses": [
        [
          -0.6632850734562711,
          -0.9271733001623415,
          1.3096310036302339,
          0.7976243904341052,
          0.43761069688253823,
          -0.367601735886307,
          -0.19277233601317378
        ],
        [
          -0.65582563522366,
          -0.9186702117327386,
          1.3251004660776564,
          -0.026151910213510543,
          -0.637673239452688,
          -0.5164675027852852,
          -0.5709205162234332
        ],
        [
          -0.6360110257180835,
          -0.9193906278060059,
          1.331047082831988,
          -0.5156898532901573,
          -0.43395868849682073,
          0.011899162642475366,
          -0.7386489300202795
        ],
        [
          -0.6499312705219392,
          -0.8919977634810985,
          1.3358541368859742,
          -0.7765339180841322,
          0.3791274178859881,
          -0.17199710066902094,
          -0.4729423563537746
        ],
        [
          -0.6696533070844197,
          -0.8722264739978188,
          1.3042291741127703,
          -0.07364780951597916,
          -0.05152038641110171,
          -0.9077582542464734,
          0.40975187831777415
        ],
        [
          -0.6655685740607641,
          -0.8250137532721852,
          1.2902909547929007,
          -0.13665986767985472,
          0.11185548668085843,
          -0.4010099147537804,
          -0.8988901372994805
        ],
        [
          -0.670932957342529,
          -0.9537035195855417,
          1.3439101662756248,
          0.23455995722374418,
          0.7806364950993564,
          0.5572423828251691,
          -0.15833261120033365
        ],
        [
          -0.7181471804585018,
          -0.9402572642604894,
          1.3344225241402654,
          -0.5438986014005485,
          0.16653021652252176,
          -0.2288127537688464,
          -0.7899915962161921
        ],
        [
          -0.7354295911996629,
          -0.953801936499634,
          1.3256167237497303,
          0.20624422915306911,
          -0.5334944704014237,
          -0.3538347768721459,
          0.7400323767700978
        ],
        [
          -0.7428072770356675,
          -0.9704266762006675,
          1.339753476615155,
          -0.2984608577329375,
          0.05605168143620454,
          -0.41836755238288764,
          0.8560069605573576
        ],
        [
          -0.6553281777868639,
          -0.9376637110436788,
          1.2957065973288189,
          -0.10236267731916618,
          -0.5627758841479733,
          -0.5972010934089294,
          -0.5622775476085624
        ],
        [
          -0.6366973675563896,
          -0.9350938733423686,
          1.3043546516964197,
          0.8958576923347288,
          0.039272708126286734,
          0.32412596615090183,
          -0.30139510206349884
        ],
        [
          -0.6317979631433899,
          -0.9430414729059491,
          1.2746884841384951,
          0.40447161795153136,
          0.24180277847574821,
          0.8624028978714949,
          -0.1849198970795929
        ],
        [
          -0.6017285040151464,
          -0.9177210542759165,
          1.2900085661403906,
          0.19276166943335435,
          0.26975225656112745,
          -0.3535906929550557,
          -0.8746715273364111
        ],
        [
          -0.5531486904424593,
          -0.9089247581000967,
          1.2883877987819388,
          0.04266260389784407,
          -0.6251330438660662,
          0.6414171960607937,
          -0.44268788134860027
        ]
      ],
      "terrain_contacts": [
        {
          "robot_body": "ankle_left",
          "position_m": [
            -0.6686167667380463,
            -0.8349014278598241,
            1.2493097018906731
          ],
          "distance_m": -0.0003024373084064994,
          "contact_frame": [
            -0.1432941296554684,
            0.14798720603956778,
            0.9785533093576886,
            0.02144178750683638,
            0.9889892753961504,
            -0.1464256224159869,
            -0.9894478471121121,
            -3.469446951953614e-18,
            -0.14488946768211455
          ],
          "force_torque_contact_frame": [
            1.252650926176548,
            -0.20711803619264155,
            -0.029740681477947117,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "jaw_soft",
          "position_m": [
            -0.7664556077180491,
            -0.9455103131160216,
            1.2546616883028765
          ],
          "distance_m": -0.0003415717944909936,
          "contact_frame": [
            -0.08325089050590037,
            0.1493740766176477,
            0.9852698485514514,
            0.012576625111296844,
            0.9887807569095513,
            -0.14884368735752548,
            -0.9964492549702593,
            0.0,
            -0.08419550029078463
          ],
          "force_torque_contact_frame": [
            2.6950891419190692,
            -0.33004572825920275,
            -0.42055335174846714,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "hip_l_2",
          "position_m": [
            -0.6370658650537745,
            -0.9392234969743523,
            1.26971151734813
          ],
          "distance_m": -0.0002924966702469712,
          "contact_frame": [
            -0.1432984491063884,
            0.1479831854038268,
            0.9785532848656944,
            0.021441838238223248,
            0.9889898770147936,
            -0.14642155147118624,
            -0.9894472204502218,
            3.469446951953614e-18,
            -0.14489374708154357
          ],
          "force_torque_contact_frame": [
            3.019687710422869,
            -0.4073218886219936,
            -0.4049522550114051,
            0.0,
            0.0,
            0.0
          ]
        },
        {
          "robot_body": "ankle_right",
          "position_m": [
            -0.5373404096459047,
            -0.8945525082430271,
            1.28443977991908
          ],
          "distance_m": -1.1774369795896693e-05,
          "contact_frame": [
            -0.23829405702519313,
            0.05711651611899917,
            0.9695120659243506,
            0.013632781602040279,
            0.9983675192965906,
            -0.055465698222982515,
            -0.971097363631611,
            0.0,
            -0.2386837035654821
          ],
          "force_torque_contact_frame": [
            0.20283266725020038,
            -0.09819158290064635,
            -0.10464108434955402,
            0.0,
            0.0,
            0.0
          ]
        }
      ]
    }
  ],
  "policy_calls": [
    {
      "call": 0,
      "physics_step": 0,
      "sim_time_s": 0.0,
      "observation": [
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        -1.0,
        0.0,
        2.574920721087892e-09,
        -1.2302399099439754e-08,
        5.8114527079489164e-11,
        -9.059905714536853e-09,
        6.294250454175199e-09,
        6.294250454175199e-09,
        0.0,
        0.0,
        0.0,
        -2.574920721087892e-09,
        1.2302399099439754e-08,
        -5.8114527079489164e-11,
        9.059905714536853e-09,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.01857474073767662,
        -0.0513671338558197,
        -0.003521759994328022,
        0.026564529165625572,
        -0.13271355628967285,
        -0.12098230421543121,
        0.002036886988207698,
        -0.025089319795370102,
        -0.012710094451904297,
        0.04866033419966698,
        0.08067680895328522,
        0.053280480206012726,
        0.03297438845038414,
        0.1521158367395401
      ],
      "target_rad": [
        -0.01857474073767662,
        -0.13866713643074036,
        -0.46142175793647766,
        0.021664530038833618,
        0.32028645277023315,
        0.2281176894903183,
        0.3511368930339813,
        -0.025089319795370102,
        -0.012710094451904297,
        0.04866033419966698,
        0.16797681152820587,
        0.5111804604530334,
        0.03787438943982124,
        -0.3008841872215271
      ],
      "elapsed_seconds": 0.007815909048076719
    },
    {
      "call": 1,
      "physics_step": 4,
      "sim_time_s": 0.02,
      "observation": [
        -0.02413952723145485,
        -0.1602628529071808,
        0.015867749229073524,
        -0.0021235477179288864,
        0.00032215978717431426,
        -0.9999976754188538,
        -0.0005360078066587448,
        -0.0019723817240446806,
        -1.5067847016325686e-05,
        0.0008362774970009923,
        -0.007115345448255539,
        -0.005359405651688576,
        -6.838118679297622e-06,
        -0.0008715707808732986,
        -0.0002376193879172206,
        0.002272749086841941,
        0.003516971133649349,
        0.0020966054871678352,
        0.0016193516785278916,
        0.008234056644141674,
        -0.04004883021116257,
        -0.14922189712524414,
        -0.000947608903516084,
        0.06328999996185303,
        -0.5292530059814453,
        -0.4043465554714203,
        0.00022702637943439186,
        -0.06514473259449005,
        -0.01764017529785633,
        0.16925345361232758,
        0.264955073595047,
        0.15824338793754578,
        0.11932531744241714,
        0.6123863458633423,
        -0.01857474073767662,
        -0.0513671338558197,
        -0.003521759994328022,
        0.026564529165625572,
        -0.13271355628967285,
        -0.12098230421543121,
        0.002036886988207698,
        -0.025089319795370102,
        -0.012710094451904297,
        0.04866033419966698,
        0.08067680895328522,
        0.053280480206012726,
        0.03297438845038414,
        0.1521158367395401,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.012680611573159695,
        -0.05045987665653229,
        -0.003624735400080681,
        -0.007159806787967682,
        -0.09430736303329468,
        -0.08873886615037918,
        0.00027755647897720337,
        -0.026757095009088516,
        -0.013057678937911987,
        0.02364787645637989,
        0.057580944150686264,
        0.049310073256492615,
        0.02625403366982937,
        0.09491495788097382
      ],
      "target_rad": [
        0.012680611573159695,
        -0.13775987923145294,
        -0.46152472496032715,
        -0.01205980684608221,
        0.35869264602661133,
        0.2603611350059509,
        0.3493775427341461,
        -0.026757095009088516,
        -0.013057678937911987,
        0.02364787645637989,
        0.14488095045089722,
        0.5072100758552551,
        0.031154032796621323,
        -0.358085036277771
      ],
      "elapsed_seconds": 0.0008589260396547616
    },
    {
      "call": 2,
      "physics_step": 8,
      "sim_time_s": 0.04,
      "observation": [
        -0.023323435336351395,
        -0.20129947364330292,
        0.01703007146716118,
        -0.005901920143514872,
        0.000798859226051718,
        -0.9999822378158569,
        -0.0006895228871144354,
        -0.006160082761198282,
        -3.4431752283126116e-05,
        0.0011800539214164019,
        -0.019126800820231438,
        -0.015047729015350342,
        -4.431112756719813e-06,
        -0.0027078452985733747,
        -0.0007127294084057212,
        0.005435524508357048,
        0.009691429324448109,
        0.006342935375869274,
        0.004320720210671425,
        0.02136351726949215,
        0.003866498591378331,
        -0.23839682340621948,
        -0.0009843740845099092,
        0.004579194355756044,
        -0.6281572580337524,
        -0.5206602215766907,
        8.980519487522542e-05,
        -0.10439924895763397,
        -0.02657167986035347,
        0.15024371445178986,
        0.3281348943710327,
        0.23817351460456848,
        0.14042499661445618,
        0.6699731349945068,
        0.012680611573159695,
        -0.05045987665653229,
        -0.003624735400080681,
        -0.007159806787967682,
        -0.09430736303329468,
        -0.08873886615037918,
        0.00027755647897720337,
        -0.026757095009088516,
        -0.013057678937911987,
        0.02364787645637989,
        0.057580944150686264,
        0.049310073256492615,
        0.02625403366982937,
        0.09491495788097382,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.026739709079265594,
        -0.03216923773288727,
        -0.002979392185807228,
        -0.014662468805909157,
        -0.0726572647690773,
        -0.08138920366764069,
        0.010036936961114407,
        -0.02753676101565361,
        -0.011509574949741364,
        0.017474111169576645,
        0.04550716280937195,
        0.03437070548534393,
        0.032617971301078796,
        0.05858666077256203
      ],
      "target_rad": [
        0.026739709079265594,
        -0.11946924030780792,
        -0.460879385471344,
        -0.01956246793270111,
        0.3803427517414093,
        0.26771080493927,
        0.3591369390487671,
        -0.02753676101565361,
        -0.011509574949741364,
        0.017474111169576645,
        0.1328071653842926,
        0.49227070808410645,
        0.0375179722905159,
        -0.3944133520126343
      ],
      "elapsed_seconds": 0.00014801102224737406
    },
    {
      "call": 3,
      "physics_step": 12,
      "sim_time_s": 0.05999999999999999,
      "observation": [
        -0.022577596828341484,
        -0.2110777050256729,
        0.031125681474804878,
        -0.010085503570735455,
        0.0012635024031624198,
        -0.9999483227729797,
        0.0004066338005941361,
        -0.01059806253761053,
        -5.174733814783394e-05,
        0.0008421675302088261,
        -0.030589798465371132,
        -0.025723397731781006,
        6.142359779914841e-05,
        -0.005098497029393911,
        -0.0012105355272069573,
        0.007785124704241753,
        0.0159531831741333,
        0.010857847519218922,
        0.007406699936836958,
        0.03247871622443199,
        0.07974892854690552,
        -0.21098186075687408,
        -0.0008336782921105623,
        -0.027300456538796425,
        -0.5380465984344482,
        -0.5346346497535706,
        0.005471197422593832,
        -0.12573593854904175,
        -0.023717541247606277,
        0.09932901710271835,
        0.3018592298030853,
        0.21692854166030884,
        0.15909893810749054,
        0.4912736415863037,
        0.026739709079265594,
        -0.03216923773288727,
        -0.002979392185807228,
        -0.014662468805909157,
        -0.0726572647690773,
        -0.08138920366764069,
        0.010036936961114407,
        -0.02753676101565361,
        -0.011509574949741364,
        0.017474111169576645,
        0.04550716280937195,
        0.03437070548534393,
        0.032617971301078796,
        0.05858666077256203,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.037650927901268005,
        -0.026291623711586,
        -0.0005799457430839539,
        -0.02694559283554554,
        -0.04892602562904358,
        -0.0801696926355362,
        0.018423957750201225,
        -0.031162772327661514,
        -0.008333802223205566,
        0.011855654418468475,
        0.03224809095263481,
        0.02090657502412796,
        0.03306184709072113,
        0.03229483589529991
      ],
      "target_rad": [
        0.037650927901268005,
        -0.11359162628650665,
        -0.45847994089126587,
        -0.031845591962337494,
        0.4040739834308624,
        0.2689303159713745,
        0.3675239384174347,
        -0.031162772327661514,
        -0.008333802223205566,
        0.011855654418468475,
        0.11954809725284576,
        0.4788065552711487,
        0.037961848080158234,
        -0.4207051694393158
      ],
      "elapsed_seconds": 5.963497096672654e-05
    },
    {
      "call": 4,
      "physics_step": 16,
      "sim_time_s": 0.08,
      "observation": [
        0.6134703755378723,
        0.37567761540412903,
        -0.1798926591873169,
        -0.004032616503536701,
        -0.009140005335211754,
        -0.999950110912323,
        0.004761924967169762,
        -0.00661512091755867,
        0.003454561112448573,
        0.041309453547000885,
        -0.04914376139640808,
        -0.03211458399891853,
        0.011384374462068081,
        -0.005693035665899515,
        -9.794691868592054e-05,
        0.009019470773637295,
        0.026322457939386368,
        0.020719703286886215,
        -0.0052534365095198154,
        0.05158814787864685,
        0.2077162116765976,
        0.3426169753074646,
        0.14424322545528412,
        2.301591157913208,
        -0.7404507994651794,
        -0.29776790738105774,
        0.7612174153327942,
        -0.0025715224910527468,
        0.05610338971018791,
        0.07167762517929077,
        0.4684351980686188,
        0.5660138726234436,
        -1.1469991207122803,
        1.2566413879394531,
        0.037650927901268005,
        -0.026291623711586,
        -0.0005799457430839539,
        -0.02694559283554554,
        -0.04892602562904358,
        -0.0801696926355362,
        0.018423957750201225,
        -0.031162772327661514,
        -0.008333802223205566,
        0.011855654418468475,
        0.03224809095263481,
        0.02090657502412796,
        0.03306184709072113,
        0.03229483589529991,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.09044287353754044,
        0.027030987665057182,
        0.05511559918522835,
        -0.17879891395568848,
        0.16808722913265228,
        -0.0776321142911911,
        -0.0055432128719985485,
        -0.08336518704891205,
        -0.034162797033786774,
        0.011429466307163239,
        0.0801009088754654,
        -0.11255767941474915,
        0.10157870501279831,
        -0.21389752626419067
      ],
      "target_rad": [
        0.09044287353754044,
        -0.06026901304721832,
        -0.4027843773365021,
        -0.18369890749454498,
        0.6210872530937195,
        0.2714678645133972,
        0.34355679154396057,
        -0.08336518704891205,
        -0.034162797033786774,
        0.011429466307163239,
        0.16740091145038605,
        0.3453423082828522,
        0.10647870600223541,
        -0.6668975353240967
      ],
      "elapsed_seconds": 8.036702638491988e-05
    },
    {
      "call": 5,
      "physics_step": 20,
      "sim_time_s": 0.10000000000000002,
      "observation": [
        0.7774634957313538,
        -0.2105543464422226,
        -0.25320520997047424,
        -0.003816070035099983,
        -0.023559952154755592,
        -0.9997151494026184,
        0.011501805856823921,
        0.000338330224622041,
        0.006650599185377359,
        0.07718630880117416,
        -0.04851481691002846,
        -0.041291095316410065,
        0.027898797765374184,
        -0.008560443297028542,
        -6.851361831650138e-05,
        0.010880918242037296,
        0.03490355983376503,
        0.027457579970359802,
        -0.027157455682754517,
        0.06182665750384331,
        0.3968324363231659,
        0.3303202986717224,
        0.14766506850719452,
        1.4172860383987427,
        0.4116121232509613,
        -0.5497933030128479,
        0.8192352652549744,
        -0.22277694940567017,
        -0.02802783064544201,
        0.1004549190402031,
        0.3976338505744934,
        0.1972375512123108,
        -0.9997190833091736,
        0.10508289188146591,
        0.09044287353754044,
        0.027030987665057182,
        0.05511559918522835,
        -0.17879891395568848,
        0.16808722913265228,
        -0.0776321142911911,
        -0.0055432128719985485,
        -0.08336518704891205,
        -0.034162797033786774,
        0.011429466307163239,
        0.0801009088754654,
        -0.11255767941474915,
        0.10157870501279831,
        -0.21389752626419067,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.10469897091388702,
        0.039607495069503784,
        0.024042025208473206,
        -0.08273021876811981,
        0.1198471188545227,
        -0.05687515810132027,
        -0.006171931512653828,
        -0.10404247045516968,
        -0.06178963929414749,
        0.0413680225610733,
        0.09875008463859558,
        -0.08199390769004822,
        0.07805131375789642,
        -0.1455329805612564
      ],
      "target_rad": [
        0.10469897091388702,
        -0.04769250750541687,
        -0.4338579773902893,
        -0.08763021975755692,
        0.5728471279144287,
        0.29222482442855835,
        0.34292805194854736,
        -0.10404247045516968,
        -0.06178963929414749,
        0.0413680225610733,
        0.18605008721351624,
        0.3759060800075531,
        0.08295131474733353,
        -0.5985329747200012
      ],
      "elapsed_seconds": 4.7823996283113956e-05
    },
    {
      "call": 6,
      "physics_step": 24,
      "sim_time_s": 0.12000000000000004,
      "observation": [
        0.8610343933105469,
        -0.49714395403862,
        -0.2575584352016449,
        -0.011533621698617935,
        -0.04019348695874214,
        -0.9991253614425659,
        0.02165388874709606,
        0.007033771835267544,
        0.00785457156598568,
        0.09750048071146011,
        -0.03432817757129669,
        -0.05283735692501068,
        0.04258275404572487,
        -0.016115237027406693,
        -0.0029881917871534824,
        0.014060898683965206,
        0.04344480112195015,
        0.029203008860349655,
        -0.045550256967544556,
        0.058888282626867294,
        0.5592557787895203,
        0.33471620082855225,
        0.014348786324262619,
        0.7845052480697632,
        0.8465887904167175,
        -0.5898584127426147,
        0.6804994344711304,
        -0.450624018907547,
        -0.20449839532375336,
        0.1808692365884781,
        0.44888630509376526,
        0.03353944048285484,
        -0.8762714862823486,
        -0.26388588547706604,
        0.10469897091388702,
        0.039607495069503784,
        0.024042025208473206,
        -0.08273021876811981,
        0.1198471188545227,
        -0.05687515810132027,
        -0.006171931512653828,
        -0.10404247045516968,
        -0.06178963929414749,
        0.0413680225610733,
        0.09875008463859558,
        -0.08199390769004822,
        0.07805131375789642,
        -0.1455329805612564,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.07752504199743271,
        0.057435501366853714,
        0.09951086342334747,
        0.07041025906801224,
        0.038770921528339386,
        -0.005968436598777771,
        -0.019747449085116386,
        -0.10935914516448975,
        -0.0597376823425293,
        0.06344372779130936,
        0.09418812394142151,
        -0.016009856015443802,
        0.08551008999347687,
        -0.03940843045711517
      ],
      "target_rad": [
        0.07752504199743271,
        -0.02986450120806694,
        -0.35838913917541504,
        0.06551025807857513,
        0.4917709231376648,
        0.34313154220581055,
        0.32935255765914917,
        -0.10935914516448975,
        -0.0597376823425293,
        0.06344372779130936,
        0.18148812651634216,
        0.4418901205062866,
        0.09041009098291397,
        -0.4924084544181824
      ],
      "elapsed_seconds": 0.0001038880436681211
    },
    {
      "call": 7,
      "physics_step": 28,
      "sim_time_s": 0.14000000000000004,
      "observation": [
        0.8940116167068481,
        -0.5367475152015686,
        -0.45448628067970276,
        -0.02149335853755474,
        -0.05784386768937111,
        -0.9980942606925964,
        0.032368388026952744,
        0.013962111435830593,
        0.00983552448451519,
        0.11388416588306427,
        -0.019546478986740112,
        -0.061978623270988464,
        0.053470782935619354,
        -0.026749394834041595,
        -0.008295039646327496,
        0.018573038280010223,
        0.05392949655652046,
        0.030714627355337143,
        -0.0621173270046711,
        0.05768902227282524,
        0.5166203379631042,
        0.3479616343975067,
        0.1403505653142929,
        0.8326946496963501,
        0.6753419041633606,
        -0.38671424984931946,
        0.4723327159881592,
        -0.5668153762817383,
        -0.2920911908149719,
        0.2445070743560791,
        0.559036374092102,
        0.10128367692232132,
        -0.802986204624176,
        0.031358156353235245,
        0.07752504199743271,
        0.057435501366853714,
        0.09951086342334747,
        0.07041025906801224,
        0.038770921528339386,
        -0.005968436598777771,
        -0.019747449085116386,
        -0.10935914516448975,
        -0.0597376823425293,
        0.06344372779130936,
        0.09418812394142151,
        -0.016009856015443802,
        0.08551008999347687,
        -0.03940843045711517,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.015844490379095078,
        0.05957268178462982,
        0.26193881034851074,
        0.17144770920276642,
        -0.044466469436883926,
        0.08423928916454315,
        -0.06152850762009621,
        -0.14700984954833984,
        -0.02315765619277954,
        0.05308288335800171,
        0.11658710241317749,
        0.06897397339344025,
        0.13606572151184082,
        0.0274239219725132
      ],
      "target_rad": [
        0.015844490379095078,
        -0.027727320790290833,
        -0.19596117734909058,
        0.1665477156639099,
        0.4085335433483124,
        0.43333929777145386,
        0.2875714898109436,
        -0.14700984954833984,
        -0.02315765619277954,
        0.05308288335800171,
        0.20388710498809814,
        0.5268739461898804,
        0.14096571505069733,
        -0.4255760908126831
      ],
      "elapsed_seconds": 8.698698366060853e-05
    },
    {
      "call": 8,
      "physics_step": 32,
      "sim_time_s": 0.16000000000000006,
      "observation": [
        0.8621668815612793,
        -0.5142895579338074,
        -1.068589448928833,
        -0.030587172135710716,
        -0.07564359158277512,
        -0.9966656565666199,
        0.038708921521902084,
        0.02143784798681736,
        0.01891116425395012,
        0.135789692401886,
        -0.013575217686593533,
        -0.0644584447145462,
        0.059203408658504486,
        -0.039887044578790665,
        -0.012587175704538822,
        0.02255164086818695,
        0.06797776371240616,
        0.0359763465821743,
        -0.07588211447000504,
        0.06573732197284698,
        0.21276552975177765,
        0.3831409811973572,
        0.6054483652114868,
        1.2069587707519531,
        0.11766120046377182,
        -0.004859593231230974,
        0.18838351964950562,
        -0.6960558891296387,
        -0.17214453220367432,
        0.16933181881904602,
        0.7768113613128662,
        0.3423250913619995,
        -0.6430822014808655,
        0.591588020324707,
        0.015844490379095078,
        0.05957268178462982,
        0.26193881034851074,
        0.17144770920276642,
        -0.044466469436883926,
        0.08423928916454315,
        -0.06152850762009621,
        -0.14700984954833984,
        -0.02315765619277954,
        0.05308288335800171,
        0.11658710241317749,
        0.06897397339344025,
        0.13606572151184082,
        0.0274239219725132,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.05023114010691643,
        0.03836854547262192,
        0.43988877534866333,
        0.17367196083068848,
        -0.13831208646297455,
        0.1909279227256775,
        -0.14431434869766235,
        -0.25487616658210754,
        0.039312250912189484,
        0.009225692600011826,
        0.1692732572555542,
        0.1322864592075348,
        0.2298477590084076,
        0.08881671726703644
      ],
      "target_rad": [
        -0.05023114010691643,
        -0.04893145710229874,
        -0.01801121234893799,
        0.16877196729183197,
        0.31468790769577026,
        0.540027916431427,
        0.20478564500808716,
        -0.25487616658210754,
        0.039312250912189484,
        0.009225692600011826,
        0.25657325983047485,
        0.5901864767074585,
        0.2347477525472641,
        -0.36418330669403076
      ],
      "elapsed_seconds": 4.8032961785793304e-05
    },
    {
      "call": 9,
      "physics_step": 36,
      "sim_time_s": 0.18000000000000008,
      "observation": [
        0.7064148187637329,
        -0.47329771518707275,
        -1.8914704322814941,
        -0.037791453301906586,
        -0.09258156269788742,
        -0.9949876666069031,
        0.03788960352540016,
        0.029875319451093674,
        0.040723614394664764,
        0.16323885321617126,
        -0.02122374251484871,
        -0.057447388768196106,
        0.05815954878926277,
        -0.05934682860970497,
        -0.012417469173669815,
        0.023098189383745193,
        0.08675145357847214,
        0.0464760884642601,
        -0.08321641385555267,
        0.08495940268039703,
        -0.16461198031902313,
        0.4509764611721039,
        1.3498395681381226,
        1.4012986421585083,
        -0.6168203949928284,
        0.5593883395195007,
        -0.173860102891922,
        -1.1177963018417358,
        0.09467019140720367,
        -0.059462063014507294,
        0.9810003638267517,
        0.5819563865661621,
        -0.24093057215213776,
        1.0356309413909912,
        -0.05023114010691643,
        0.03836854547262192,
        0.43988877534866333,
        0.17367196083068848,
        -0.13831208646297455,
        0.1909279227256775,
        -0.14431434869766235,
        -0.25487616658210754,
        0.039312250912189484,
        0.009225692600011826,
        0.1692732572555542,
        0.1322864592075348,
        0.2298477590084076,
        0.08881671726703644,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.10096471756696701,
        0.0021286234259605408,
        0.5668765902519226,
        0.06361093372106552,
        -0.2158023566007614,
        0.28702402114868164,
        -0.2224259376525879,
        -0.41600093245506287,
        0.10149389505386353,
        -0.06256578862667084,
        0.22406895458698273,
        0.16608861088752747,
        0.30719199776649475,
        0.15576033294200897
      ],
      "target_rad": [
        -0.10096471756696701,
        -0.08517137914896011,
        0.10897660255432129,
        0.05871093273162842,
        0.2371976524591446,
        0.6361240148544312,
        0.12667405605316162,
        -0.41600093245506287,
        0.10149389505386353,
        -0.06256578862667084,
        0.3113689422607422,
        0.6239886283874512,
        0.31209200620651245,
        -0.29723966121673584
      ],
      "elapsed_seconds": 0.00011117797112092376
    },
    {
      "call": 10,
      "physics_step": 40,
      "sim_time_s": 0.2000000000000001,
      "observation": [
        0.3493284285068512,
        -0.2667340338230133,
        -2.5133004188537598,
        -0.04070208594202995,
        -0.10424139350652695,
        -0.9937188029289246,
        0.029063137248158455,
        0.03702574595808983,
        0.08076608180999756,
        0.18331648409366608,
        -0.04268110916018486,
        -0.03618795424699783,
        0.04805239289999008,
        -0.0927739217877388,
        -0.005176123697310686,
        0.01706024818122387,
        0.11011119931936264,
        0.06084195524454117,
        -0.08083192259073257,
        0.1058235839009285,
        -0.5765630602836609,
        0.19282160699367523,
        2.447298288345337,
        0.6253109574317932,
        -1.2375845909118652,
        1.3477014303207397,
        -0.7071444988250732,
        -1.9470632076263428,
        0.4889892339706421,
        -0.4072287380695343,
        1.3546552658081055,
        0.8490462899208069,
        0.2663850784301758,
        1.024341106414795,
        -0.10096471756696701,
        0.0021286234259605408,
        0.5668765902519226,
        0.06361093372106552,
        -0.2158023566007614,
        0.28702402114868164,
        -0.2224259376525879,
        -0.41600093245506287,
        0.10149389505386353,
        -0.06256578862667084,
        0.22406895458698273,
        0.16608861088752747,
        0.30719199776649475,
        0.15576033294200897,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.0957065299153328,
        -0.03243628889322281,
        0.5491508841514587,
        -0.09576364606618881,
        -0.26724350452423096,
        0.3362788259983063,
        -0.20997019112110138,
        -0.6205756068229675,
        0.11203335970640182,
        -0.15301929414272308,
        0.23496098816394806,
        0.1519128978252411,
        0.30498960614204407,
        0.14199799299240112
      ],
      "target_rad": [
        -0.0957065299153328,
        -0.11973629146814346,
        0.09125089645385742,
        -0.10066364705562592,
        0.18575650453567505,
        0.6853787899017334,
        0.13912980258464813,
        -0.6205756068229675,
        0.11203335970640182,
        -0.15301929414272308,
        0.3222609758377075,
        0.60981285572052,
        0.30988961458206177,
        -0.3110020160675049
      ],
      "elapsed_seconds": 4.938396159559488e-05
    },
    {
      "call": 11,
      "physics_step": 44,
      "sim_time_s": 0.2200000000000001,
      "observation": [
        0.1035504937171936,
        -0.08125589042901993,
        -2.633267879486084,
        -0.03776169195771217,
        -0.10981296747922897,
        -0.9932346940040588,
        0.015047132968902588,
        0.03452436253428459,
        0.13862045109272003,
        0.17686311900615692,
        -0.07280977815389633,
        -0.0003215713950339705,
        0.02976677380502224,
        -0.14812345802783966,
        0.00792075227946043,
        0.002029377967119217,
        0.14262326061725616,
        0.08060470968484879,
        -0.07217000424861908,
        0.12402448058128357,
        -0.7604153752326965,
        -0.2977875769138336,
        3.0916779041290283,
        -0.8030237555503845,
        -1.617963194847107,
        2.0080339908599854,
        -1.0193125009536743,
        -3.1589760780334473,
        0.7333380579948425,
        -0.9180647730827332,
        1.7673914432525635,
        1.0493927001953125,
        0.5205164551734924,
        0.8394119739532471,
        -0.0957065299153328,
        -0.03243628889322281,
        0.5491508841514587,
        -0.09576364606618881,
        -0.26724350452423096,
        0.3362788259983063,
        -0.20997019112110138,
        -0.6205756068229675,
        0.11203335970640182,
        -0.15301929414272308,
        0.23496098816394806,
        0.1519128978252411,
        0.30498960614204407,
        0.14199799299240112,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.0953727513551712,
        -0.042409949004650116,
        0.46432384848594666,
        -0.2099161148071289,
        -0.3641457259654999,
        0.3538166880607605,
        -0.08616770803928375,
        -0.8719092607498169,
        0.06116330623626709,
        -0.2951236367225647,
        0.29061463475227356,
        0.169536292552948,
        0.2504284977912903,
        0.20607155561447144
      ],
      "target_rad": [
        -0.0953727513551712,
        -0.12970995903015137,
        0.006423860788345337,
        -0.2148161083459854,
        0.08885428309440613,
        0.70291668176651,
        0.26293230056762695,
        -0.8719092607498169,
        0.06116330623626709,
        -0.2951236367225647,
        0.3779146373271942,
        0.6274362802505493,
        0.255328506231308,
        -0.24692845344543457
      ],
      "elapsed_seconds": 0.0007173360208980739
    },
    {
      "call": 12,
      "physics_step": 48,
      "sim_time_s": 0.24000000000000013,
      "observation": [
        -0.08614630997180939,
        -0.015523543581366539,
        -2.535745143890381,
        -0.03265070170164108,
        -0.11112874001264572,
        -0.9932695031166077,
        -0.000932927883695811,
        0.024284454062581062,
        0.19827213883399963,
        0.14345502853393555,
        -0.11199982464313507,
        0.04596219211816788,
        0.013292822055518627,
        -0.23175029456615448,
        0.021137405186891556,
        -0.027465980499982834,
        0.18302713334560394,
        0.10222666710615158,
        -0.061645787209272385,
        0.14203105866909027,
        -0.8127370476722717,
        -0.6233267784118652,
        2.894805431365967,
        -2.089548349380493,
        -2.1020517349243164,
        2.4500842094421387,
        -0.7190574407577515,
        -4.656254768371582,
        0.6184241771697998,
        -1.7434682846069336,
        2.1664962768554688,
        1.084391474723816,
        0.5106170773506165,
        0.9188991189002991,
        -0.0953727513551712,
        -0.042409949004650116,
        0.46432384848594666,
        -0.2099161148071289,
        -0.3641457259654999,
        0.3538166880607605,
        -0.08616770803928375,
        -0.8719092607498169,
        0.06116330623626709,
        -0.2951236367225647,
        0.29061463475227356,
        0.169536292552948,
        0.2504284977912903,
        0.20607155561447144,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.16843248903751373,
        -0.07940418273210526,
        0.36496710777282715,
        -0.36070510745048523,
        -0.5610054731369019,
        0.4002729654312134,
        0.05135144293308258,
        -1.1394665241241455,
        0.042416904121637344,
        -0.45610103011131287,
        0.3607497811317444,
        0.18987038731575012,
        0.20171427726745605,
        0.3524073660373688
      ],
      "target_rad": [
        -0.16843248903751373,
        -0.1667041778564453,
        -0.09293287992477417,
        -0.36560511589050293,
        -0.10800546407699585,
        0.7493729591369629,
        0.4004514217376709,
        -1.1394665241241455,
        0.042416904121637344,
        -0.45610103011131287,
        0.44804978370666504,
        0.6477704048156738,
        0.20661427080631256,
        -0.10059264302253723
      ],
      "elapsed_seconds": 7.640599505975842e-05
    },
    {
      "call": 13,
      "physics_step": 52,
      "sim_time_s": 0.2600000000000001,
      "observation": [
        0.28004732728004456,
        -0.37928614020347595,
        -2.595839262008667,
        -0.034109849482774734,
        -0.1190987154841423,
        -0.9922963380813599,
        -0.02194889634847641,
        0.02526094950735569,
        0.23542171716690063,
        0.10209706425666809,
        -0.1752510517835617,
        0.09822355955839157,
        0.009715608321130276,
        -0.34577512741088867,
        0.03195273131132126,
        -0.07521047443151474,
        0.21605241298675537,
        0.11643905192613602,
        -0.045713432133197784,
        0.16599899530410767,
        -1.118264079093933,
        -0.062229905277490616,
        1.6291232109069824,
        -2.516550064086914,
        -3.4170291423797607,
        2.7312963008880615,
        0.018156282603740692,
        -6.1949262619018555,
        0.4664480984210968,
        -2.7174339294433594,
        1.7330416440963745,
        0.6749644875526428,
        0.786205530166626,
        1.3339042663574219,
        -0.16843248903751373,
        -0.07940418273210526,
        0.36496710777282715,
        -0.36070510745048523,
        -0.5610054731369019,
        0.4002729654312134,
        0.05135144293308258,
        -1.1394665241241455,
        0.042416904121637344,
        -0.45610103011131287,
        0.3607497811317444,
        0.18987038731575012,
        0.20171427726745605,
        0.3524073660373688,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.35946139693260193,
        -0.24041414260864258,
        0.2936033010482788,
        -0.552976131439209,
        -0.7841174602508545,
        0.5135135650634766,
        0.13900244235992432,
        -1.535079002380371,
        0.08497780561447144,
        -0.7005288004875183,
        0.5767523050308228,
        0.17324063181877136,
        0.2722581923007965,
        0.6755518913269043
      ],
      "target_rad": [
        -0.35946139693260193,
        -0.32771414518356323,
        -0.1642966866493225,
        -0.5578761100769043,
        -0.3311174511909485,
        0.8626135587692261,
        0.48810243606567383,
        -1.535079002380371,
        0.08497780561447144,
        -0.7005288004875183,
        0.6640523076057434,
        0.6311405897140503,
        0.2771582007408142,
        0.2225518822669983
      ],
      "elapsed_seconds": 5.590397631749511e-05
    },
    {
      "call": 14,
      "physics_step": 56,
      "sim_time_s": 0.28000000000000014,
      "observation": [
        0.2879558503627777,
        -0.48784562945365906,
        -2.606241464614868,
        -0.03775360435247421,
        -0.12975838780403137,
        -0.9908266663551331,
        -0.05591815337538719,
        0.027802349999547005,
        0.25402209162712097,
        0.04048462584614754,
        -0.264541357755661,
        0.16005071997642517,
        0.020328698679804802,
        -0.49752774834632874,
        0.041999656707048416,
        -0.14796391129493713,
        0.24740064144134521,
        0.12456436455249786,
        -0.023579606786370277,
        0.21077974140644073,
        -1.9399986267089844,
        -0.22931000590324402,
        0.7224224209785461,
        -3.6416702270507812,
        -4.749041557312012,
        3.2731151580810547,
        0.7484785318374634,
        -8.223546981811523,
        0.4895145297050476,
        -4.078619003295898,
        1.8091435432434082,
        0.34272605180740356,
        1.1708742380142212,
        2.6489691734313965,
        -0.35946139693260193,
        -0.24041414260864258,
        0.2936033010482788,
        -0.552976131439209,
        -0.7841174602508545,
        0.5135135650634766,
        0.13900244235992432,
        -1.535079002380371,
        0.08497780561447144,
        -0.7005288004875183,
        0.5767523050308228,
        0.17324063181877136,
        0.2722581923007965,
        0.6755518913269043,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.5352615118026733,
        -0.3596676290035248,
        0.16009123623371124,
        -0.6650295853614807,
        -0.9817205667495728,
        0.620833158493042,
        0.19206121563911438,
        -1.806554913520813,
        0.11674629151821136,
        -0.8220274448394775,
        0.6484715938568115,
        0.22840294241905212,
        0.26437482237815857,
        0.8195885419845581
      ],
      "target_rad": [
        -0.5352615118026733,
        -0.44696763157844543,
        -0.29780876636505127,
        -0.669929563999176,
        -0.5287205576896667,
        0.9699331521987915,
        0.5411611795425415,
        -1.806554913520813,
        0.11674629151821136,
        -0.8220274448394775,
        0.7357715964317322,
        0.686302900314331,
        0.26927483081817627,
        0.3665885329246521
      ],
      "elapsed_seconds": 6.072496762499213e-05
    },
    {
      "call": 15,
      "physics_step": 60,
      "sim_time_s": 0.30000000000000016,
      "observation": [
        0.21868744492530823,
        -0.2786989212036133,
        -2.592520236968994,
        -0.03713460639119148,
        -0.135011687874794,
        -0.9901478886604309,
        -0.10883509367704391,
        0.012821068055927753,
        0.25623732805252075,
        -0.047693170607089996,
        -0.3752247989177704,
        0.23451150953769684,
        0.04265642166137695,
        -0.6859999299049377,
        0.05311658978462219,
        -0.24319422245025635,
        0.2868422865867615,
        0.13139203190803528,
        0.0002682539925444871,
        0.27923721075057983,
        -2.9854485988616943,
        -0.8628210425376892,
        -0.18074889481067657,
        -4.674077987670898,
        -5.901692867279053,
        3.901554822921753,
        1.2781238555908203,
        -9.930158615112305,
        0.5917364954948425,
        -5.039544582366943,
        1.913893461227417,
        0.33799174427986145,
        1.2278822660446167,
        3.783687114715576,
        -0.5352615118026733,
        -0.3596676290035248,
        0.16009123623371124,
        -0.6650295853614807,
        -0.9817205667495728,
        0.620833158493042,
        0.19206121563911438,
        -1.806554913520813,
        0.11674629151821136,
        -0.8220274448394775,
        0.6484715938568115,
        0.22840294241905212,
        0.26437482237815857,
        0.8195885419845581,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.6035358905792236,
        -0.3985535204410553,
        -0.07726921141147614,
        -0.6839438080787659,
        -1.0746196508407593,
        0.6446150541305542,
        0.3093942701816559,
        -1.8740406036376953,
        0.1436028778553009,
        -0.7555279731750488,
        0.6398038268089294,
        0.18114089965820312,
        0.020152932032942772,
        0.7710096836090088
      ],
      "target_rad": [
        -0.6035358905792236,
        -0.48585352301597595,
        -0.5351691842079163,
        -0.6888437867164612,
        -0.6216196417808533,
        0.9937150478363037,
        0.658494234085083,
        -1.8740406036376953,
        0.1436028778553009,
        -0.7555279731750488,
        0.7271038293838501,
        0.6390408873558044,
        0.025052931159734726,
        0.3180096745491028
      ],
      "elapsed_seconds": 4.884402733296156e-05
    },
    {
      "call": 16,
      "physics_step": 64,
      "sim_time_s": 0.3200000000000002,
      "observation": [
        1.1422641277313232,
        0.12305396795272827,
        -2.242626428604126,
        -0.03117516078054905,
        -0.15052750706672668,
        -0.9881141781806946,
        -0.17839229106903076,
        -0.024658264592289925,
        0.23340807855129242,
        -0.15049926936626434,
        -0.49824750423431396,
        0.31747886538505554,
        0.07519908994436264,
        -0.8936280608177185,
        0.06679002940654755,
        -0.343764066696167,
        0.30777791142463684,
        0.13577838242053986,
        0.011602976359426975,
        0.35802900791168213,
        -3.699430227279663,
        -2.430070638656616,
        -1.6244664192199707,
        -5.305166244506836,
        -6.192727565765381,
        4.251070022583008,
        1.76338529586792,
        -10.490899085998535,
        0.7247378826141357,
        -4.962118625640869,
        0.2774187922477722,
        0.15779085457324982,
        0.2322821021080017,
        3.9703822135925293,
        -0.6035358905792236,
        -0.3985535204410553,
        -0.07726921141147614,
        -0.6839438080787659,
        -1.0746196508407593,
        0.6446150541305542,
        0.3093942701816559,
        -1.8740406036376953,
        0.1436028778553009,
        -0.7555279731750488,
        0.6398038268089294,
        0.18114089965820312,
        0.020152932032942772,
        0.7710096836090088,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.3789394199848175,
        -0.24011629819869995,
        -0.3092178404331207,
        -0.5765650272369385,
        -1.046802282333374,
        0.6134083271026611,
        0.5249481201171875,
        -1.7185773849487305,
        0.27706634998321533,
        -0.6819896697998047,
        0.5704183578491211,
        -0.05083341524004936,
        -0.26276060938835144,
        0.6056353449821472
      ],
      "target_rad": [
        -0.3789394199848175,
        -0.3274163007736206,
        -0.7671178579330444,
        -0.5814650058746338,
        -0.593802273273468,
        0.9625083208084106,
        0.874048113822937,
        -1.7185773849487305,
        0.27706634998321533,
        -0.6819896697998047,
        0.6577183604240417,
        0.40706658363342285,
        -0.25786060094833374,
        0.1526353359222412
      ],
      "elapsed_seconds": 7.841602200642228e-05
    },
    {
      "call": 17,
      "physics_step": 68,
      "sim_time_s": 0.3400000000000002,
      "observation": [
        1.6427829265594482,
        -0.036680418998003006,
        -1.9241222143173218,
        -0.02371482364833355,
        -0.18112684786319733,
        -0.9831737875938416,
        -0.24321579933166504,
        -0.07491342723369598,
        0.18099553883075714,
        -0.2516440749168396,
        -0.616290807723999,
        0.40107277035713196,
        0.12343651801347733,
        -1.0914435386657715,
        0.0879291370511055,
        -0.433542937040329,
        0.3062242865562439,
        0.1273835003376007,
        -0.007979905232787132,
        0.42640000581741333,
        -2.96464204788208,
        -2.5095419883728027,
        -3.0900442600250244,
        -4.86110258102417,
        -5.679292678833008,
        4.092421531677246,
        2.71502947807312,
        -9.464726448059082,
        1.2081260681152344,
        -4.194125652313232,
        -0.16440199315547943,
        -0.7036061882972717,
        -1.5867350101470947,
        3.099356174468994,
        -0.3789394199848175,
        -0.24011629819869995,
        -0.3092178404331207,
        -0.5765650272369385,
        -1.046802282333374,
        0.6134083271026611,
        0.5249481201171875,
        -1.7185773849487305,
        0.27706634998321533,
        -0.6819896697998047,
        0.5704183578491211,
        -0.05083341524004936,
        -0.26276060938835144,
        0.6056353449821472,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.12822915613651276,
        0.31480515003204346,
        -0.6297034025192261,
        -0.4597068428993225,
        -1.0059815645217896,
        0.684870719909668,
        0.602275013923645,
        -1.404668927192688,
        0.4883764386177063,
        -0.6971957683563232,
        0.16127155721187592,
        -0.6367435455322266,
        -0.6139304637908936,
        0.38669803738594055
      ],
      "target_rad": [
        0.12822915613651276,
        0.2275051474571228,
        -1.0876033306121826,
        -0.4646068513393402,
        -0.5529815554618835,
        1.0339707136154175,
        0.9513750076293945,
        -1.404668927192688,
        0.4883764386177063,
        -0.6971957683563232,
        0.24857155978679657,
        -0.17884355783462524,
        -0.6090304851531982,
        -0.06630197167396545
      ],
      "elapsed_seconds": 0.00011386902770027518
    },
    {
      "call": 18,
      "physics_step": 72,
      "sim_time_s": 0.3600000000000002,
      "observation": [
        1.9608454704284668,
        -0.12036942690610886,
        0.007221419829875231,
        -0.025103822350502014,
        -0.2191678136587143,
        -0.9753641486167908,
        -0.26967671513557434,
        -0.09490073472261429,
        0.10422420501708984,
        -0.3388672173023224,
        -0.7171019911766052,
        0.4829263389110565,
        0.18621444702148438,
        -1.2500940561294556,
        0.1264743059873581,
        -0.5078509449958801,
        0.3004150092601776,
        0.08452723175287247,
        -0.07690434157848358,
        0.46911218762397766,
        -0.5628795027732849,
        -0.1252482831478119,
        -3.7202296257019043,
        -4.180344581604004,
        -4.6460723876953125,
        4.212670803070068,
        3.251211643218994,
        -7.111166954040527,
        2.260608196258545,
        -3.419837236404419,
        -0.42396482825279236,
        -2.720215082168579,
        -4.320321083068848,
        1.652228832244873,
        0.12822915613651276,
        0.31480515003204346,
        -0.6297034025192261,
        -0.4597068428993225,
        -1.0059815645217896,
        0.684870719909668,
        0.602275013923645,
        -1.404668927192688,
        0.4883764386177063,
        -0.6971957683563232,
        0.16127155721187592,
        -0.6367435455322266,
        -0.6139304637908936,
        0.38669803738594055,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.9751787781715393,
        1.3022048473358154,
        -1.0870038270950317,
        0.5539222955703735,
        -0.5902261137962341,
        0.8353258371353149,
        0.2962299883365631,
        -0.8094128370285034,
        0.4904513359069824,
        -0.48344185948371887,
        -0.5783184170722961,
        -1.7136048078536987,
        -0.6879742741584778,
        0.09973248839378357
      ],
      "target_rad": [
        0.9751787781715393,
        1.21490478515625,
        -1.5449037551879883,
        0.5490223169326782,
        -0.13722610473632812,
        1.1844258308410645,
        0.6453299522399902,
        -0.8094128370285034,
        0.4904513359069824,
        -0.48344185948371887,
        -0.4910184144973755,
        -1.2557048797607422,
        -0.6830742955207825,
        -0.35326752066612244
      ],
      "elapsed_seconds": 7.180601824074984e-05
    },
    {
      "call": 19,
      "physics_step": 76,
      "sim_time_s": 0.3800000000000002,
      "observation": [
        -0.16843193769454956,
        1.0873568058013916,
        3.8656740188598633,
        -0.02533593773841858,
        -0.230379119515419,
        -0.9727710485458374,
        -0.22531023621559143,
        -0.05290386825799942,
        0.022433742880821228,
        -0.3649599850177765,
        -0.7679809331893921,
        0.5786693096160889,
        0.23341761529445648,
        -1.3415743112564087,
        0.1784435510635376,
        -0.5440317392349243,
        0.2624683976173401,
        -0.03395485132932663,
        -0.1847860962152481,
        0.47345444560050964,
        3.6379997730255127,
        3.305279493331909,
        -4.376716613769531,
        0.27755457162857056,
        -1.4638689756393433,
        5.0284199714660645,
        1.8539886474609375,
        -3.1636509895324707,
        2.7292144298553467,
        -0.5035521388053894,
        -2.737905502319336,
        -7.753737926483154,
        -5.558039665222168,
        -0.5545225143432617,
        0.9751787781715393,
        1.3022048473358154,
        -1.0870038270950317,
        0.5539222955703735,
        -0.5902261137962341,
        0.8353258371353149,
        0.2962299883365631,
        -0.8094128370285034,
        0.4904513359069824,
        -0.48344185948371887,
        -0.5783184170722961,
        -1.7136048078536987,
        -0.6879742741584778,
        0.09973248839378357,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.7990450263023376,
        0.9004917740821838,
        -1.1194746494293213,
        1.293110966682434,
        0.3282771110534668,
        0.6536355018615723,
        -0.3399251103401184,
        -0.17058809101581573,
        -0.14853760600090027,
        0.11670985817909241,
        -0.4870698153972626,
        -1.7559126615524292,
        -0.09813190251588821,
        0.3466978073120117
      ],
      "target_rad": [
        0.7990450263023376,
        0.8131917715072632,
        -1.5773746967315674,
        1.2882109880447388,
        0.7812771201133728,
        1.0027354955673218,
        0.009174883365631104,
        -0.17058809101581573,
        -0.14853760600090027,
        0.11670985817909241,
        -0.3997698128223419,
        -1.2980127334594727,
        -0.09323190152645111,
        -0.10630220174789429
      ],
      "elapsed_seconds": 0.00011575897224247456
    },
    {
      "call": 20,
      "physics_step": 80,
      "sim_time_s": 0.40000000000000024,
      "observation": [
        -1.0460277795791626,
        2.789067029953003,
        5.234036922454834,
        -0.004187362734228373,
        -0.21372252702713013,
        -0.9768854379653931,
        -0.1277550309896469,
        0.03118465654551983,
        -0.07316741347312927,
        -0.27929288148880005,
        -0.7190994024276733,
        0.6692883372306824,
        0.22343672811985016,
        -1.3335216045379639,
        0.1999562680721283,
        -0.5156435370445251,
        0.1880320906639099,
        -0.2295883446931839,
        -0.2620556354522705,
        0.45952311158180237,
        5.4920878410339355,
        4.703216552734375,
        -5.04746675491333,
        6.311070442199707,
        4.3529276847839355,
        4.205128192901611,
        -1.679837703704834,
        2.2567265033721924,
        0.22897471487522125,
        2.3660213947296143,
        -4.195850849151611,
        -10.732890129089355,
        -2.929500102996826,
        -0.765568196773529,
        0.7990450263023376,
        0.9004917740821838,
        -1.1194746494293213,
        1.293110966682434,
        0.3282771110534668,
        0.6536355018615723,
        -0.3399251103401184,
        -0.17058809101581573,
        -0.14853760600090027,
        0.11670985817909241,
        -0.4870698153972626,
        -1.7559126615524292,
        -0.09813190251588821,
        0.3466978073120117,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.1743835210800171,
        0.24079841375350952,
        -0.27126801013946533,
        1.213619351387024,
        0.6605370044708252,
        0.0889020562171936,
        -0.18546739220619202,
        -0.19025760889053345,
        -0.32350337505340576,
        0.1694173812866211,
        0.0016313223168253899,
        -0.32417193055152893,
        0.28232014179229736,
        1.1825779676437378
      ],
      "target_rad": [
        -0.1743835210800171,
        0.15349841117858887,
        -0.7291679978370667,
        1.2087193727493286,
        1.113537073135376,
        0.4380020499229431,
        0.1636326014995575,
        -0.19025760889053345,
        -0.32350337505340576,
        0.1694173812866211,
        0.08893132209777832,
        0.1337280571460724,
        0.28722015023231506,
        0.7295779585838318
      ],
      "elapsed_seconds": 6.133498391136527e-05
    },
    {
      "call": 21,
      "physics_step": 84,
      "sim_time_s": 0.42000000000000026,
      "observation": [
        0.18094304203987122,
        1.827791452407837,
        3.466752052307129,
        0.022344445809721947,
        -0.20841887593269348,
        -0.9777843952178955,
        -0.054307106882333755,
        0.12085653841495514,
        -0.14986112713813782,
        -0.10387032479047775,
        -0.5771290063858032,
        0.7083519697189331,
        0.1728106141090393,
        -1.239717960357666,
        0.1742219775915146,
        -0.4453034996986389,
        0.11372783035039902,
        -0.39148470759391785,
        -0.269188791513443,
        0.48943573236465454,
        2.7039263248443604,
        4.288106918334961,
        -3.16051983833313,
        9.940475463867188,
        8.38725471496582,
        0.740179181098938,
        -2.9223134517669678,
        5.870447158813477,
        -2.0289835929870605,
        4.054154396057129,
        -3.433297872543335,
        -6.655975818634033,
        0.9180116653442383,
        2.6069552898406982,
        -0.1743835210800171,
        0.24079841375350952,
        -0.27126801013946533,
        1.213619351387024,
        0.6605370044708252,
        0.0889020562171936,
        -0.18546739220619202,
        -0.19025760889053345,
        -0.32350337505340576,
        0.1694173812866211,
        0.0016313223168253899,
        -0.32417193055152893,
        0.28232014179229736,
        1.1825779676437378,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.3999423086643219,
        0.3946065604686737,
        0.5780858993530273,
        1.3308968544006348,
        0.6147984266281128,
        -0.2172788828611374,
        -0.22236454486846924,
        -0.3584558367729187,
        -0.16686013340950012,
        -0.23722292482852936,
        0.34202098846435547,
        1.0091547966003418,
        -0.19719146192073822,
        0.7229748964309692
      ],
      "target_rad": [
        -0.3999423086643219,
        0.30730655789375305,
        0.12018591165542603,
        1.3259968757629395,
        1.067798376083374,
        0.13182111084461212,
        0.12673544883728027,
        -0.3584558367729187,
        -0.16686013340950012,
        -0.23722292482852936,
        0.4293209910392761,
        1.467054843902588,
        -0.1922914683818817,
        0.26997488737106323
      ],
      "elapsed_seconds": 0.00011773902224376798
    },
    {
      "call": 22,
      "physics_step": 88,
      "sim_time_s": 0.4400000000000003,
      "observation": [
        0.4629809558391571,
        0.21269704401493073,
        0.9554950594902039,
        0.028581291437149048,
        -0.2187114655971527,
        -0.9753708839416504,
        -0.03461623564362526,
        0.20663292706012726,
        -0.16065704822540283,
        0.12611600756645203,
        -0.39193210005760193,
        0.6776354908943176,
        0.10637182742357254,
        -1.1051087379455566,
        0.12582141160964966,
        -0.375949501991272,
        0.07236548513174057,
        -0.41887491941452026,
        -0.2457665503025055,
        0.5378973484039307,
        0.14116241037845612,
        4.075440406799316,
        0.8675405979156494,
        11.97490119934082,
        9.611564636230469,
        -2.7029714584350586,
        -3.490402936935425,
        7.047396659851074,
        -2.599853515625,
        3.129255533218384,
        -1.3195489645004272,
        1.36562180519104,
        1.2267992496490479,
        2.311082124710083,
        -0.3999423086643219,
        0.3946065604686737,
        0.5780858993530273,
        1.3308968544006348,
        0.6147984266281128,
        -0.2172788828611374,
        -0.22236454486846924,
        -0.3584558367729187,
        -0.16686013340950012,
        -0.23722292482852936,
        0.34202098846435547,
        1.0091547966003418,
        -0.19719146192073822,
        0.7229748964309692,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.5362166166305542,
        0.009526975452899933,
        0.8692827224731445,
        0.2897285521030426,
        0.0846359059214592,
        -0.36499854922294617,
        -0.3246196210384369,
        -0.2856084406375885,
        -0.06125105172395706,
        -0.17849203944206238,
        0.1233370453119278,
        0.8179304003715515,
        0.1569688618183136,
        0.03631440922617912
      ],
      "target_rad": [
        -0.5362166166305542,
        -0.07777302712202072,
        0.4113827347755432,
        0.2848285436630249,
        0.5376359224319458,
        -0.015898555517196655,
        0.024480372667312622,
        -0.2856084406375885,
        -0.06125105172395706,
        -0.17849203944206238,
        0.21063704788684845,
        1.2758303880691528,
        0.1618688553571701,
        -0.4166856110095978
      ],
      "elapsed_seconds": 0.00010456895688548684
    },
    {
      "call": 23,
      "physics_step": 92,
      "sim_time_s": 0.4600000000000003,
      "observation": [
        0.9676245450973511,
        -1.4837656021118164,
        -1.0165822505950928,
        0.012095904909074306,
        -0.23420917987823486,
        -0.9721109867095947,
        -0.05885856971144676,
        0.2578376531600952,
        -0.09538795799016953,
        0.3079286813735962,
        -0.23012153804302216,
        0.5870934128761292,
        0.03067450411617756,
        -0.9567534923553467,
        0.07796474546194077,
        -0.32003918290138245,
        0.0538753867149353,
        -0.3364279270172119,
        -0.20255370438098907,
        0.5411646366119385,
        -1.8818576335906982,
        1.746824026107788,
        4.451684474945068,
        7.514286994934082,
        7.224813938140869,
        -5.419421672821045,
        -3.8772289752960205,
        7.511541366577148,
        -2.258437395095825,
        2.5921630859375,
        -0.6899980306625366,
        5.489120006561279,
        2.5868747234344482,
        -0.8982459902763367,
        -0.5362166166305542,
        0.009526975452899933,
        0.8692827224731445,
        0.2897285521030426,
        0.0846359059214592,
        -0.36499854922294617,
        -0.3246196210384369,
        -0.2856084406375885,
        -0.06125105172395706,
        -0.17849203944206238,
        0.1233370453119278,
        0.8179304003715515,
        0.1569688618183136,
        0.03631440922617912,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.5665770173072815,
        -0.04554015398025513,
        0.916668713092804,
        -0.009807123802602291,
        -0.30422937870025635,
        0.07175321877002716,
        -0.5527957081794739,
        -0.4114556610584259,
        0.003840312361717224,
        -0.3898417353630066,
        0.297494500875473,
        0.6487041115760803,
        0.43720144033432007,
        -0.1128738522529602
      ],
      "target_rad": [
        -0.5665770173072815,
        -0.13284015655517578,
        0.45876872539520264,
        -0.01470712386071682,
        0.14877063035964966,
        0.4208531975746155,
        -0.20369571447372437,
        -0.4114556610584259,
        0.003840312361717224,
        -0.3898417353630066,
        0.3847945034503937,
        1.1066040992736816,
        0.44210144877433777,
        -0.5658738613128662
      ],
      "elapsed_seconds": 9.364698780700564e-05
    },
    {
      "call": 24,
      "physics_step": 96,
      "sim_time_s": 0.4800000000000003,
      "observation": [
        4.456735134124756,
        -4.023928165435791,
        -3.3284170627593994,
        -0.03237288445234299,
        -0.2908225655555725,
        -0.9562291502952576,
        -0.11418121308088303,
        0.29403167963027954,
        0.0028445259667932987,
        0.42508605122566223,
        -0.13879376649856567,
        0.4768890142440796,
        -0.05088261514902115,
        -0.8103774189949036,
        0.04519062861800194,
        -0.2860819399356842,
        0.05142897740006447,
        -0.21081580221652985,
        -0.12483379989862442,
        0.4903838634490967,
        -3.184678316116333,
        2.108064889907837,
        4.883491039276123,
        5.2581610679626465,
        3.1209945678710938,
        -5.524351596832275,
        -4.071812629699707,
        7.198958396911621,
        -1.278388500213623,
        1.236424446105957,
        0.11477648466825485,
        6.537670135498047,
        4.532223224639893,
        -3.3363869190216064,
        -0.5665770173072815,
        -0.04554015398025513,
        0.916668713092804,
        -0.009807123802602291,
        -0.30422937870025635,
        0.07175321877002716,
        -0.5527957081794739,
        -0.4114556610584259,
        0.003840312361717224,
        -0.3898417353630066,
        0.297494500875473,
        0.6487041115760803,
        0.43720144033432007,
        -0.1128738522529602,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.8772204518318176,
        -0.27554240822792053,
        1.135012149810791,
        -0.109347403049469,
        -0.3425321578979492,
        0.4007295072078705,
        -0.502333402633667,
        -1.36058509349823,
        0.3375810384750366,
        -1.5131300687789917,
        1.008859634399414,
        0.8936681747436523,
        0.4010436534881592,
        0.5957148671150208
      ],
      "target_rad": [
        -0.8772204518318176,
        -0.3628424108028412,
        0.6771121621131897,
        -0.1142474040389061,
        0.11046785116195679,
        0.7498295307159424,
        -0.15323340892791748,
        -1.36058509349823,
        0.3375810384750366,
        -1.5131300687789917,
        1.0961596965789795,
        1.3515682220458984,
        0.4059436619281769,
        0.14271485805511475
      ],
      "elapsed_seconds": 0.00012904003961011767
    },
    {
      "call": 25,
      "physics_step": 100,
      "sim_time_s": 0.5000000000000003,
      "observation": [
        1.4912091493606567,
        -1.774092674255371,
        -3.6504697799682617,
        -0.05643391236662865,
        -0.3375527560710907,
        -0.939613401889801,
        -0.19547414779663086,
        0.285519003868103,
        0.12184669822454453,
        0.47041767835617065,
        -0.10802040249109268,
        0.4353930652141571,
        -0.13648506999015808,
        -0.7411360740661621,
        0.04164623096585274,
        -0.3224913775920868,
        0.10218647867441177,
        -0.1088101789355278,
        -0.0670659989118576,
        0.4350804090499878,
        -4.515964508056641,
        -1.5807552337646484,
        6.600459098815918,
        0.7099870443344116,
        0.7447848320007324,
        -0.9095125198364258,
        -4.322286605834961,
        1.6428117752075195,
        0.36239200830459595,
        -3.556213855743408,
        3.7971479892730713,
        5.078289031982422,
        2.63572096824646,
        -2.264288902282715,
        -0.8772204518318176,
        -0.27554240822792053,
        1.135012149810791,
        -0.109347403049469,
        -0.3425321578979492,
        0.4007295072078705,
        -0.502333402633667,
        -1.36058509349823,
        0.3375810384750366,
        -1.5131300687789917,
        1.008859634399414,
        0.8936681747436523,
        0.4010436534881592,
        0.5957148671150208,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.2468338012695312,
        -0.6359139084815979,
        0.9533207416534424,
        -0.73996901512146,
        -0.8992747664451599,
        0.8411803245544434,
        -0.0469064898788929,
        -3.1729736328125,
        0.1332518458366394,
        -2.4166674613952637,
        1.4331878423690796,
        1.0495059490203857,
        0.8235092163085938,
        1.202102541923523
      ],
      "target_rad": [
        -1.2468338012695312,
        -0.7232139110565186,
        0.49542075395584106,
        -0.7448689937591553,
        -0.4462747573852539,
        1.1902803182601929,
        0.3021934926509857,
        -3.1729736328125,
        0.1332518458366394,
        -2.4166674613952637,
        1.5204877853393555,
        1.5074059963226318,
        0.8284091949462891,
        0.7491025328636169
      ],
      "elapsed_seconds": 0.00010542798554524779
    },
    {
      "call": 26,
      "physics_step": 104,
      "sim_time_s": 0.5200000000000004,
      "observation": [
        -0.18991458415985107,
        -0.8995001912117004,
        -3.6560869216918945,
        -0.0520782433450222,
        -0.34780505299568176,
        -0.9361193776130676,
        -0.31341734528541565,
        0.21720485389232635,
        0.2548099160194397,
        0.41478025913238525,
        -0.14376772940158844,
        0.45114317536354065,
        -0.1924896538257599,
        -0.8084987998008728,
        0.05018503963947296,
        -0.46998101472854614,
        0.2219993770122528,
        0.013895818032324314,
        0.01941741071641445,
        0.44161438941955566,
        -6.546694755554199,
        -4.270204544067383,
        6.648614406585693,
        -4.510476589202881,
        -3.0238382816314697,
        1.478914499282837,
        -1.9867711067199707,
        -5.905616283416748,
        0.47175559401512146,
        -9.335381507873535,
        7.007464408874512,
        6.774432182312012,
        5.233243465423584,
        1.6675595045089722,
        -1.2468338012695312,
        -0.6359139084815979,
        0.9533207416534424,
        -0.73996901512146,
        -0.8992747664451599,
        0.8411803245544434,
        -0.0469064898788929,
        -3.1729736328125,
        0.1332518458366394,
        -2.4166674613952637,
        1.4331878423690796,
        1.0495059490203857,
        0.8235092163085938,
        1.202102541923523,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.4454835653305054,
        -0.8239220380783081,
        0.6995773315429688,
        -0.9760585427284241,
        -1.1373202800750732,
        1.1998172998428345,
        0.6372351050376892,
        -4.6016130447387695,
        0.2376301884651184,
        -3.042618989944458,
        1.7690175771713257,
        1.2047315835952759,
        0.9928669333457947,
        1.5620393753051758
      ],
      "target_rad": [
        -1.4454835653305054,
        -0.9112220406532288,
        0.24167734384536743,
        -0.9809585213661194,
        -0.6843202710151672,
        1.548917293548584,
        0.9863350987434387,
        -4.6016130447387695,
        0.2376301884651184,
        -3.042618989944458,
        1.8563175201416016,
        1.6626315116882324,
        0.99776691198349,
        1.109039306640625
      ],
      "elapsed_seconds": 6.62549864500761e-05
    },
    {
      "call": 27,
      "physics_step": 108,
      "sim_time_s": 0.5400000000000004,
      "observation": [
        0.4020082354545593,
        0.8364431262016296,
        -0.8451277613639832,
        -0.04104769602417946,
        -0.34327998757362366,
        -0.9383357167243958,
        -0.4419431984424591,
        0.10814973711967468,
        0.3606819212436676,
        0.2730708420276642,
        -0.24350912868976593,
        0.5199236273765564,
        -0.17632463574409485,
        -0.9895628094673157,
        0.06652457267045975,
        -0.6198370456695557,
        0.336296945810318,
        0.1717652976512909,
        0.14783383905887604,
        0.526398777961731,
        -3.1940274238586426,
        -5.321681022644043,
        3.4304630756378174,
        -8.219769477844238,
        -5.868607997894287,
        4.697171688079834,
        2.0033466815948486,
        -10.696870803833008,
        1.019114375114441,
        -2.4123077392578125,
        2.360678195953369,
        8.565962791442871,
        6.8037896156311035,
        5.514483451843262,
        -1.4454835653305054,
        -0.8239220380783081,
        0.6995773315429688,
        -0.9760585427284241,
        -1.1373202800750732,
        1.1998172998428345,
        0.6372351050376892,
        -4.6016130447387695,
        0.2376301884651184,
        -3.042618989944458,
        1.7690175771713257,
        1.2047315835952759,
        0.9928669333457947,
        1.5620393753051758,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.5559628009796143,
        -0.7697234153747559,
        0.4583476781845093,
        -1.219692349433899,
        -1.2320655584335327,
        0.9134624004364014,
        0.5431553721427917,
        -4.597192287445068,
        0.281890332698822,
        -2.560227632522583,
        1.5404809713363647,
        0.9908501505851746,
        0.7125216126441956,
        1.113303303718567
      ],
      "target_rad": [
        -1.5559628009796143,
        -0.8570234179496765,
        0.000447690486907959,
        -1.2245923280715942,
        -0.7790655493736267,
        1.2625623941421509,
        0.8922553658485413,
        -4.597192287445068,
        0.281890332698822,
        -2.560227632522583,
        1.6277809143066406,
        1.4487501382827759,
        0.7174215912818909,
        0.6603032946586609
      ],
      "elapsed_seconds": 5.517399404197931e-05
    },
    {
      "call": 28,
      "physics_step": 112,
      "sim_time_s": 0.5600000000000004,
      "observation": [
        0.7427692413330078,
        1.5261605978012085,
        1.8436217308044434,
        -0.020026249811053276,
        -0.3573790490627289,
        -0.9337447285652161,
        -0.41179555654525757,
        0.027395417913794518,
        0.37708356976509094,
        0.08101531118154526,
        -0.38233882188796997,
        0.6193534135818481,
        -0.11367379128932953,
        -1.2433124780654907,
        0.09165728837251663,
        -0.6033880114555359,
        0.3369317352771759,
        0.3412397801876068,
        0.27314481139183044,
        0.6373713612556458,
        2.792910099029541,
        -3.5201947689056396,
        -0.02806794084608555,
        -10.134859085083008,
        -7.3982930183410645,
        4.832327842712402,
        3.757615327835083,
        -13.667271614074707,
        1.343324065208435,
        1.5975538492202759,
        -0.6090871691703796,
        8.264899253845215,
        6.0160346031188965,
        5.495330333709717,
        -1.5559628009796143,
        -0.7697234153747559,
        0.4583476781845093,
        -1.219692349433899,
        -1.2320655584335327,
        0.9134624004364014,
        0.5431553721427917,
        -4.597192287445068,
        0.281890332698822,
        -2.560227632522583,
        1.5404809713363647,
        0.9908501505851746,
        0.7125216126441956,
        1.113303303718567,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.4436677694320679,
        -0.5472787022590637,
        0.27042150497436523,
        -1.1258468627929688,
        -1.2809808254241943,
        0.5357282161712646,
        0.2856154143810272,
        -3.9214088916778564,
        0.3976784944534302,
        -1.9250726699829102,
        1.2553930282592773,
        0.9356761574745178,
        0.2527286112308502,
        0.7615269422531128
      ],
      "target_rad": [
        -1.4436677694320679,
        -0.6345787048339844,
        -0.18747848272323608,
        -1.130746841430664,
        -0.8279808163642883,
        0.8848282098770142,
        0.6347154378890991,
        -3.9214088916778564,
        0.3976784944534302,
        -1.9250726699829102,
        1.3426930904388428,
        1.3935761451721191,
        0.2576286196708679,
        0.3085269331932068
      ],
      "elapsed_seconds": 5.999399581924081e-05
    },
    {
      "call": 29,
      "physics_step": 116,
      "sim_time_s": 0.5800000000000004,
      "observation": [
        0.6350769400596619,
        0.6897333264350891,
        2.537325143814087,
        -0.018273603171110153,
        -0.3686716854572296,
        -0.9293800592422485,
        -0.3562696874141693,
        -0.022947290912270546,
        0.3646097779273987,
        -0.12260261178016663,
        -0.5379632711410522,
        0.6884052753448486,
        -0.04179973527789116,
        -1.5397937297821045,
        0.12581323087215424,
        -0.5724104046821594,
        0.32252833247184753,
        0.49051907658576965,
        0.3573203682899475,
        0.7213489413261414,
        2.4911763668060303,
        -2.020878314971924,
        -0.8069265484809875,
        -10.067378997802734,
        -7.869987487792969,
        2.6923775672912598,
        3.4813172817230225,
        -15.402551651000977,
        1.8727680444717407,
        1.367965817451477,
        -0.6697754859924316,
        6.970376491546631,
        3.2405192852020264,
        3.497335910797119,
        -1.4436677694320679,
        -0.5472787022590637,
        0.27042150497436523,
        -1.1258468627929688,
        -1.2809808254241943,
        0.5357282161712646,
        0.2856154143810272,
        -3.9214088916778564,
        0.3976784944534302,
        -1.9250726699829102,
        1.2553930282592773,
        0.9356761574745178,
        0.2527286112308502,
        0.7615269422531128,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.426552176475525,
        -0.5539968013763428,
        0.049746427685022354,
        -1.1053833961486816,
        -1.378332495689392,
        0.6077752113342285,
        0.2852195203304291,
        -3.950063467025757,
        0.6337590217590332,
        -2.156888961791992,
        1.4887855052947998,
        1.0245953798294067,
        -0.12252572923898697,
        0.7951192855834961
      ],
      "target_rad": [
        -1.426552176475525,
        -0.6412968039512634,
        -0.40815356373786926,
        -1.110283374786377,
        -0.9253324866294861,
        0.956875205039978,
        0.634319543838501,
        -3.950063467025757,
        0.6337590217590332,
        -2.156888961791992,
        1.5760855674743652,
        1.4824953079223633,
        -0.11762572824954987,
        0.3421192765235901
      ],
      "elapsed_seconds": 0.00013006001245230436
    },
    {
      "call": 30,
      "physics_step": 120,
      "sim_time_s": 0.6000000000000004,
      "observation": [
        0.7995456457138062,
        -0.1634036749601364,
        2.8602383136749268,
        -0.0359373576939106,
        -0.38034114241600037,
        -0.9241477847099304,
        -0.3232360780239105,
        -0.0515613816678524,
        0.33692240715026855,
        -0.31328240036964417,
        -0.6967706084251404,
        0.7103978395462036,
        0.020291700959205627,
        -1.8620516061782837,
        0.1783609837293625,
        -0.5530174374580383,
        0.3129838705062866,
        0.6169487237930298,
        0.3764859735965729,
        0.7741139531135559,
        1.057243824005127,
        -1.1619341373443604,
        -1.6182911396026611,
        -9.164320945739746,
        -7.870933532714844,
        0.19273070991039276,
        2.8886516094207764,
        -16.467742919921875,
        2.9823367595672607,
        0.7582654356956482,
        -0.37387967109680176,
        5.927101135253906,
        -0.1862962394952774,
        2.175856590270996,
        -1.426552176475525,
        -0.5539968013763428,
        0.049746427685022354,
        -1.1053833961486816,
        -1.378332495689392,
        0.6077752113342285,
        0.2852195203304291,
        -3.950063467025757,
        0.6337590217590332,
        -2.156888961791992,
        1.4887855052947998,
        1.0245953798294067,
        -0.12252572923898697,
        0.7951192855834961,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.4363157749176025,
        -0.6696184277534485,
        -0.27572759985923767,
        -1.042720079421997,
        -1.42961585521698,
        0.621370792388916,
        0.3387441337108612,
        -4.156577110290527,
        0.9002681970596313,
        -2.4894461631774902,
        1.6392592191696167,
        0.9187029004096985,
        -0.38802072405815125,
        0.8047799468040466
      ],
      "target_rad": [
        -1.4363157749176025,
        -0.7569184303283691,
        -0.7336275577545166,
        -1.0476200580596924,
        -0.976615846157074,
        0.9704707860946655,
        0.6878441572189331,
        -4.156577110290527,
        0.9002681970596313,
        -2.4894461631774902,
        1.7265591621398926,
        1.3766028881072998,
        -0.38312071561813354,
        0.3517799377441406
      ],
      "elapsed_seconds": 5.701498594135046e-05
    },
    {
      "call": 31,
      "physics_step": 124,
      "sim_time_s": 0.6200000000000004,
      "observation": [
        2.6846859455108643,
        -0.05856484919786453,
        4.174113750457764,
        -0.06499942392110825,
        -0.41332074999809265,
        -0.9082626700401306,
        -0.3418874740600586,
        -0.09052689373493195,
        0.27995920181274414,
        -0.48290178179740906,
        -0.8491702675819397,
        0.707369863986969,
        0.07283598929643631,
        -2.199983835220337,
        0.2587944269180298,
        -0.5433546304702759,
        0.3090468943119049,
        0.7177096605300903,
        0.3253079354763031,
        0.805325984954834,
        -1.402727723121643,
        -2.19047212600708,
        -3.5310370922088623,
        -8.013468742370605,
        -7.390216827392578,
        -0.2247389554977417,
        2.4793224334716797,
        -17.166484832763672,
        4.492936611175537,
        0.3562077283859253,
        -0.1304398477077484,
        4.604325294494629,
        -3.7944493293762207,
        1.246222972869873,
        -1.4363157749176025,
        -0.6696184277534485,
        -0.27572759985923767,
        -1.042720079421997,
        -1.42961585521698,
        0.621370792388916,
        0.3387441337108612,
        -4.156577110290527,
        0.9002681970596313,
        -2.4894461631774902,
        1.6392592191696167,
        0.9187029004096985,
        -0.38802072405815125,
        0.8047799468040466,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.4644615650177002,
        -0.7057264447212219,
        0.04290767386555672,
        -0.5992010235786438,
        -1.2592884302139282,
        0.9527020454406738,
        0.3569267690181732,
        -4.436826705932617,
        1.2723331451416016,
        -3.0599114894866943,
        1.81767737865448,
        0.7272390127182007,
        0.08778262883424759,
        0.7939687371253967
      ],
      "target_rad": [
        -1.4644615650177002,
        -0.7930264472961426,
        -0.4149923026561737,
        -0.6041010022163391,
        -0.8062884211540222,
        1.3018020391464233,
        0.7060267925262451,
        -4.436826705932617,
        1.2723331451416016,
        -3.0599114894866943,
        1.9049773216247559,
        1.1851389408111572,
        0.09268262982368469,
        0.3409687280654907
      ],
      "elapsed_seconds": 0.00014259101590141654
    },
    {
      "call": 32,
      "physics_step": 128,
      "sim_time_s": 0.6400000000000005,
      "observation": [
        3.764181613922119,
        -1.2233223915100098,
        4.0823588371276855,
        -0.11712227761745453,
        -0.4673730731010437,
        -0.8762675523757935,
        -0.4236021339893341,
        -0.15247496962547302,
        0.22208213806152344,
        -0.6053688526153564,
        -0.9759677648544312,
        0.7037429213523865,
        0.12269458919763565,
        -2.54695200920105,
        0.3780159652233124,
        -0.5384915471076965,
        0.30710116028785706,
        0.7924968600273132,
        0.25100916624069214,
        0.8240817785263062,
        -5.390408992767334,
        -3.5135438442230225,
        -2.528280735015869,
        -5.091879367828369,
        -5.73384952545166,
        -0.14701932668685913,
        2.454005718231201,
        -17.455190658569336,
        6.622098445892334,
        0.18737342953681946,
        -0.07999720424413681,
        3.1611764430999756,
        -3.5169458389282227,
        0.7377052307128906,
        -1.4644615650177002,
        -0.7057264447212219,
        0.04290767386555672,
        -0.5992010235786438,
        -1.2592884302139282,
        0.9527020454406738,
        0.3569267690181732,
        -4.436826705932617,
        1.2723331451416016,
        -3.0599114894866943,
        1.81767737865448,
        0.7272390127182007,
        0.08778262883424759,
        0.7939687371253967,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.4037845134735107,
        -0.6602378487586975,
        0.7924869656562805,
        -0.0025179143995046616,
        -0.8209705948829651,
        1.4738309383392334,
        0.47286438941955566,
        -5.0287861824035645,
        1.6364939212799072,
        -3.7833333015441895,
        1.9401172399520874,
        0.9854040741920471,
        0.8369001150131226,
        1.0197817087173462
      ],
      "target_rad": [
        -1.4037845134735107,
        -0.7475378513336182,
        0.3345869779586792,
        -0.00741791445761919,
        -0.3679705858230591,
        1.822930932044983,
        0.8219643831253052,
        -5.0287861824035645,
        1.6364939212799072,
        -3.7833333015441895,
        2.0274171829223633,
        1.4433040618896484,
        0.8418000936508179,
        0.5667816996574402
      ],
      "elapsed_seconds": 8.867698488757014e-05
    },
    {
      "call": 33,
      "physics_step": 132,
      "sim_time_s": 0.6600000000000005,
      "observation": [
        3.499875783920288,
        -1.915050745010376,
        5.2604804039001465,
        -0.1918787658214569,
        -0.5148149728775024,
        -0.8355525732040405,
        -0.4787309169769287,
        -0.23216702044010162,
        0.22096943855285645,
        -0.6431711912155151,
        -1.0471278429031372,
        0.7026685476303101,
        0.1758987009525299,
        -2.901132583618164,
        0.4861959218978882,
        -0.5360563397407532,
        0.30617672204971313,
        0.851090133190155,
        0.2336355447769165,
        0.8456829190254211,
        -0.4260022044181824,
        -4.2183146476745605,
        1.1492671966552734,
        -0.272152841091156,
        -2.4251863956451416,
        -0.023516099900007248,
        2.766268491744995,
        -17.866439819335938,
        2.0103135108947754,
        0.08937880396842957,
        -0.029938900843262672,
        2.7585926055908203,
        0.45111095905303955,
        1.2372912168502808,
        -1.4037845134735107,
        -0.6602378487586975,
        0.7924869656562805,
        -0.0025179143995046616,
        -0.8209705948829651,
        1.4738309383392334,
        0.47286438941955566,
        -5.0287861824035645,
        1.6364939212799072,
        -3.7833333015441895,
        1.9401172399520874,
        0.9854040741920471,
        0.8369001150131226,
        1.0197817087173462,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.317732572555542,
        -0.6367666125297546,
        1.2570316791534424,
        0.009914997965097427,
        -0.8071393370628357,
        1.6962062120437622,
        0.5236948132514954,
        -5.423190593719482,
        1.5929794311523438,
        -4.134138107299805,
        2.1460323333740234,
        1.4224464893341064,
        1.1936475038528442,
        1.132473111152649
      ],
      "target_rad": [
        -1.317732572555542,
        -0.7240666151046753,
        0.7991316914558411,
        0.005014997906982899,
        -0.3541393280029297,
        2.0453062057495117,
        0.8727948069572449,
        -5.423190593719482,
        1.5929794311523438,
        -4.134138107299805,
        2.233332395553589,
        1.8803465366363525,
        1.1985474824905396,
        0.6794731020927429
      ],
      "elapsed_seconds": 8.244701894000173e-05
    },
    {
      "call": 34,
      "physics_step": 136,
      "sim_time_s": 0.6800000000000005,
      "observation": [
        4.81016731262207,
        -4.4843363761901855,
        1.9314664602279663,
        -0.2902100086212158,
        -0.5708904266357422,
        -0.7680249214172363,
        -0.468296080827713,
        -0.31139788031578064,
        0.29930579662323,
        -0.612070620059967,
        -1.0662813186645508,
        0.7025771141052246,
        0.2398471087217331,
        -3.071167469024658,
        0.48147857189178467,
        -0.5346779227256775,
        0.30589598417282104,
        0.9421699643135071,
        0.28088638186454773,
        0.8856608271598816,
        0.7229964137077332,
        -2.5295138359069824,
        5.121375560760498,
        2.502995014190674,
        -0.2330489456653595,
        0.008321712724864483,
        3.3467612266540527,
        -1.6304080486297607,
        -0.8074362874031067,
        0.0593511164188385,
        -0.01144113764166832,
        5.0072550773620605,
        3.613614797592163,
        2.208606004714966,
        -1.317732572555542,
        -0.6367666125297546,
        1.2570316791534424,
        0.009914997965097427,
        -0.8071393370628357,
        1.6962062120437622,
        0.5236948132514954,
        -5.423190593719482,
        1.5929794311523438,
        -4.134138107299805,
        2.1460323333740234,
        1.4224464893341064,
        1.1936475038528442,
        1.132473111152649,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.260162353515625,
        -0.6926383376121521,
        1.463995099067688,
        0.2709060609340668,
        -1.0023090839385986,
        2.1823322772979736,
        0.4991244673728943,
        -5.839644432067871,
        1.7324753999710083,
        -4.589639186859131,
        2.345532178878784,
        1.4508830308914185,
        1.0796473026275635,
        1.215586543083191
      ],
      "target_rad": [
        -1.260162353515625,
        -0.7799383401870728,
        1.0060951709747314,
        0.2660060524940491,
        -0.5493090748786926,
        2.5314321517944336,
        0.8482244610786438,
        -5.839644432067871,
        1.7324753999710083,
        -4.589639186859131,
        2.4328322410583496,
        1.908782958984375,
        1.0845472812652588,
        0.7625865340232849
      ],
      "elapsed_seconds": 6.515398854389787e-05
    },
    {
      "call": 35,
      "physics_step": 140,
      "sim_time_s": 0.7000000000000005,
      "observation": [
        7.113234519958496,
        -6.397029876708984,
        -0.594318151473999,
        -0.37989571690559387,
        -0.6570457220077515,
        -0.6511299014091492,
        -0.45664477348327637,
        -0.3210068345069885,
        0.40401187539100647,
        -0.5334622859954834,
        -1.0667780637741089,
        0.7052657008171082,
        0.29100948572158813,
        -3.047879695892334,
        0.46532073616981506,
        -0.5338562726974487,
        0.30605605244636536,
        1.0220813751220703,
        0.38741379976272583,
        0.9340749382972717,
        0.45049238204956055,
        0.02315388433635235,
        2.840718984603882,
        3.521772861480713,
        0.38894331455230713,
        0.1786804050207138,
        1.6550158262252808,
        1.777334451675415,
        -0.7183787226676941,
        0.029966672882437706,
        0.01626182161271572,
        3.420950174331665,
        6.137665271759033,
        2.486830472946167,
        -1.260162353515625,
        -0.6926383376121521,
        1.463995099067688,
        0.2709060609340668,
        -1.0023090839385986,
        2.1823322772979736,
        0.4991244673728943,
        -5.839644432067871,
        1.7324753999710083,
        -4.589639186859131,
        2.345532178878784,
        1.4508830308914185,
        1.0796473026275635,
        1.215586543083191,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.138775110244751,
        -0.7048389911651611,
        1.7319090366363525,
        0.46173325181007385,
        -1.1724028587341309,
        2.4048383235931396,
        0.5882787108421326,
        -5.833191394805908,
        2.0022213459014893,
        -4.936008453369141,
        2.4621422290802,
        1.4149048328399658,
        0.7841008305549622,
        1.3576231002807617
      ],
      "target_rad": [
        -1.138775110244751,
        -0.7921389937400818,
        1.2740089893341064,
        0.45683324337005615,
        -0.7194028496742249,
        2.7539381980895996,
        0.9373787045478821,
        -5.833191394805908,
        2.0022213459014893,
        -4.936008453369141,
        2.5494422912597656,
        1.872804880142212,
        0.7890008091926575,
        0.9046230912208557
      ],
      "elapsed_seconds": 5.68249961361289e-05
    },
    {
      "call": 36,
      "physics_step": 144,
      "sim_time_s": 0.7200000000000005,
      "observation": [
        7.570855617523193,
        -5.080921649932861,
        -0.8046970367431641,
        -0.43224090337753296,
        -0.7498080730438232,
        -0.500954806804657,
        -0.44951486587524414,
        -0.3157350718975067,
        0.410030722618103,
        -0.45747190713882446,
        -1.0607264041900635,
        0.7070417404174805,
        0.3192642331123352,
        -3.0162551403045654,
        0.4553676247596741,
        -0.5335858464241028,
        0.306178480386734,
        1.0889506340026855,
        0.49959325790405273,
        0.9923388957977295,
        0.31495174765586853,
        0.3377225697040558,
        -0.5544523596763611,
        4.190942287445068,
        0.14749407768249512,
        0.027908559888601303,
        1.5144234895706177,
        1.3559190034866333,
        -0.38545912504196167,
        0.006352915894240141,
        0.0011778331827372313,
        3.359666109085083,
        5.212719917297363,
        3.0967156887054443,
        -1.138775110244751,
        -0.7048389911651611,
        1.7319090366363525,
        0.46173325181007385,
        -1.1724028587341309,
        2.4048383235931396,
        0.5882787108421326,
        -5.833191394805908,
        2.0022213459014893,
        -4.936008453369141,
        2.4621422290802,
        1.4149048328399658,
        0.7841008305549622,
        1.3576231002807617,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.1542872190475464,
        -0.7187135219573975,
        1.7370481491088867,
        0.31811726093292236,
        -1.1072583198547363,
        2.266148567199707,
        0.5495945811271667,
        -5.701270580291748,
        2.0000486373901367,
        -5.061189651489258,
        2.5050971508026123,
        1.4518777132034302,
        0.8804729580879211,
        1.4035536050796509
      ],
      "target_rad": [
        -1.1542872190475464,
        -0.8060135245323181,
        1.2791481018066406,
        0.31321725249290466,
        -0.6542583107948303,
        2.615248680114746,
        0.8986945748329163,
        -5.701270580291748,
        2.0000486373901367,
        -5.061189651489258,
        2.5923972129821777,
        1.9097776412963867,
        0.8853729367256165,
        0.9505535960197449
      ],
      "elapsed_seconds": 8.220598101615906e-05
    },
    {
      "call": 37,
      "physics_step": 148,
      "sim_time_s": 0.7400000000000005,
      "observation": [
        7.698789119720459,
        -5.138762474060059,
        -0.2940802276134491,
        -0.46652600169181824,
        -0.8184617757797241,
        -0.3353712260723114,
        -0.44480419158935547,
        -0.30958327651023865,
        0.39233866333961487,
        -0.36749523878097534,
        -1.060430884361267,
        0.7066290378570557,
        0.35514897108078003,
        -2.9969661235809326,
        0.45021572709083557,
        -0.5335677862167358,
        0.30619481205940247,
        1.135392665863037,
        0.5946786999702454,
        1.0591106414794922,
        0.18589261174201965,
        0.2660137116909027,
        -0.9260818362236023,
        4.598667621612549,
        -0.04308704659342766,
        -0.028856860473752022,
        1.958964467048645,
        0.7562716603279114,
        -0.19539955258369446,
        -0.0017681248718872666,
        0.001903303200379014,
        0.7912579774856567,
        4.406126499176025,
        3.424654006958008,
        -1.1542872190475464,
        -0.7187135219573975,
        1.7370481491088867,
        0.31811726093292236,
        -1.1072583198547363,
        2.266148567199707,
        0.5495945811271667,
        -5.701270580291748,
        2.0000486373901367,
        -5.061189651489258,
        2.5050971508026123,
        1.4518777132034302,
        0.8804729580879211,
        1.4035536050796509,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.0113674402236938,
        -0.575157105922699,
        1.524442195892334,
        0.09414683282375336,
        -0.902489185333252,
        1.9616968631744385,
        0.3827516734600067,
        -5.291135311126709,
        1.915284276008606,
        -4.853689193725586,
        2.439084529876709,
        1.6384304761886597,
        0.9356385469436646,
        1.3602097034454346
      ],
      "target_rad": [
        -1.0113674402236938,
        -0.6624571084976196,
        1.066542148590088,
        0.08924683183431625,
        -0.44948917627334595,
        2.3107967376708984,
        0.7318516969680786,
        -5.291135311126709,
        1.915284276008606,
        -4.853689193725586,
        2.5263845920562744,
        2.096330404281616,
        0.9405385255813599,
        0.9072096943855286
      ],
      "elapsed_seconds": 8.61470471136272e-05
    },
    {
      "call": 38,
      "physics_step": 152,
      "sim_time_s": 0.7600000000000006,
      "observation": [
        7.763434886932373,
        -4.964898586273193,
        -0.06449050456285477,
        -0.48932671546936035,
        -0.8579009175300598,
        -0.156733438372612,
        -0.44192129373550415,
        -0.30524230003356934,
        0.3766126334667206,
        -0.28583210706710815,
        -1.0520617961883545,
        0.7056461572647095,
        0.38758614659309387,
        -2.986772298812866,
        0.4474877715110779,
        -0.533581018447876,
        0.3061923384666443,
        1.1326972246170044,
        0.6760547161102295,
        1.124229907989502,
        0.11969112604856491,
        0.1825120598077774,
        -0.656364917755127,
        3.781496047973633,
        0.6419355273246765,
        -0.049401141703128815,
        1.4193452596664429,
        0.3890761137008667,
        -0.10588504374027252,
        0.00029985676519572735,
        -0.0012575918808579445,
        -0.3650133013725281,
        3.8665637969970703,
        3.125267267227173,
        -1.0113674402236938,
        -0.575157105922699,
        1.524442195892334,
        0.09414683282375336,
        -0.902489185333252,
        1.9616968631744385,
        0.3827516734600067,
        -5.291135311126709,
        1.915284276008606,
        -4.853689193725586,
        2.439084529876709,
        1.6384304761886597,
        0.9356385469436646,
        1.3602097034454346,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.7688055038452148,
        -0.3538813591003418,
        1.2578110694885254,
        -0.0775035098195076,
        -0.7098835706710815,
        1.5121138095855713,
        0.2065795361995697,
        -4.6129961013793945,
        1.8613163232803345,
        -4.135304927825928,
        2.107872247695923,
        1.7374532222747803,
        0.7708269953727722,
        1.1467972993850708
      ],
      "target_rad": [
        -0.7688055038452148,
        -0.44118136167526245,
        0.7999110817909241,
        -0.0824035108089447,
        -0.25688356161117554,
        1.8612138032913208,
        0.5556795597076416,
        -4.6129961013793945,
        1.8613163232803345,
        -4.135304927825928,
        2.1951723098754883,
        2.1953532695770264,
        0.7757269740104675,
        0.6937972903251648
      ],
      "elapsed_seconds": 5.736399907618761e-05
    },
    {
      "call": 39,
      "physics_step": 156,
      "sim_time_s": 0.7800000000000006,
      "observation": [
        7.842986583709717,
        -4.4763665199279785,
        0.023623798042535782,
        -0.49546998739242554,
        -0.868281900882721,
        0.02441479079425335,
        -0.4399503171443939,
        -0.3021589517593384,
        0.3674773573875427,
        -0.22675977647304535,
        -1.0235822200775146,
        0.7041632533073425,
        0.4005129337310791,
        -2.981409788131714,
        0.44597163796424866,
        -0.5335537195205688,
        0.3061518967151642,
        1.1256499290466309,
        0.7367441654205322,
        1.1688265800476074,
        0.08132272958755493,
        0.13015775382518768,
        -0.31167224049568176,
        2.5043516159057617,
        1.795889139175415,
        -0.07281649112701416,
        0.2554222345352173,
        0.20696771144866943,
        -0.05953165888786316,
        0.0016247216844931245,
        -0.0021868948824703693,
        -0.31067371368408203,
        2.5800511837005615,
        1.752058982849121,
        -0.7688055038452148,
        -0.3538813591003418,
        1.2578110694885254,
        -0.0775035098195076,
        -0.7098835706710815,
        1.5121138095855713,
        0.2065795361995697,
        -4.6129961013793945,
        1.8613163232803345,
        -4.135304927825928,
        2.107872247695923,
        1.7374532222747803,
        0.7708269953727722,
        1.1467972993850708,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.48802468180656433,
        -0.12817135453224182,
        1.1515473127365112,
        -0.04573387652635574,
        -0.5974596738815308,
        1.2290458679199219,
        0.08361610025167465,
        -3.9050488471984863,
        1.8239754438400269,
        -3.3392844200134277,
        1.6993279457092285,
        1.7390916347503662,
        0.5393229722976685,
        0.8645013570785522
      ],
      "target_rad": [
        -0.48802468180656433,
        -0.21547135710716248,
        0.6936473250389099,
        -0.05063387751579285,
        -0.14445966482162476,
        1.5781458616256714,
        0.43271610140800476,
        -3.9050488471984863,
        1.8239754438400269,
        -3.3392844200134277,
        1.786628007888794,
        2.1969916820526123,
        0.5442229509353638,
        0.41150134801864624
      ],
      "elapsed_seconds": 0.00013013998977839947
    },
    {
      "call": 40,
      "physics_step": 160,
      "sim_time_s": 0.8000000000000006,
      "observation": [
        7.928054332733154,
        -3.887516498565674,
        0.12828710675239563,
        -0.4877285063266754,
        -0.8495963215827942,
        0.20076608657836914,
        -0.4384104013442993,
        -0.29992249608039856,
        0.36443135142326355,
        -0.18632134795188904,
        -0.9739714860916138,
        0.7025824189186096,
        0.38966110348701477,
        -2.977400064468384,
        0.4451000690460205,
        -0.5335128903388977,
        0.3055053949356079,
        1.1211704015731812,
        0.7626171708106995,
        1.1756997108459473,
        0.06688358634710312,
        0.09419633448123932,
        -0.0728616714477539,
        1.75496244430542,
        2.7902112007141113,
        -0.07241622358560562,
        -0.9427123069763184,
        0.1769852489233017,
        -0.03456287831068039,
        0.001818415941670537,
        -0.036724600940942764,
        -0.17699207365512848,
        0.631005585193634,
        -0.35166049003601074,
        -0.48802468180656433,
        -0.12817135453224182,
        1.1515473127365112,
        -0.04573387652635574,
        -0.5974596738815308,
        1.2290458679199219,
        0.08361610025167465,
        -3.9050488471984863,
        1.8239754438400269,
        -3.3392844200134277,
        1.6993279457092285,
        1.7390916347503662,
        0.5393229722976685,
        0.8645013570785522,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.29586535692214966,
        0.09443601965904236,
        1.1661018133163452,
        0.0167242418974638,
        -0.49391746520996094,
        1.1125693321228027,
        0.009662053547799587,
        -3.4170022010803223,
        1.772918939590454,
        -2.7984392642974854,
        1.3703333139419556,
        1.698702096939087,
        0.33230605721473694,
        0.6397219896316528
      ],
      "target_rad": [
        -0.29586535692214966,
        0.007136017084121704,
        0.7082018256187439,
        0.01182424183934927,
        -0.04091745615005493,
        1.4616693258285522,
        0.35876205563545227,
        -3.4170022010803223,
        1.772918939590454,
        -2.7984392642974854,
        1.4576332569122314,
        2.156602144241333,
        0.33720606565475464,
        0.18672198057174683
      ],
      "elapsed_seconds": 7.22259865142405e-05
    },
    {
      "call": 41,
      "physics_step": 164,
      "sim_time_s": 0.8200000000000006,
      "observation": [
        5.755251407623291,
        -0.740705668926239,
        -2.84438157081604,
        -0.4637182056903839,
        -0.8133403658866882,
        0.3513443171977997,
        -0.43630677461624146,
        -0.29714980721473694,
        0.36422207951545715,
        -0.15547093749046326,
        -0.9072408080101013,
        0.7027453780174255,
        0.3364258110523224,
        -2.9744067192077637,
        0.4458279013633728,
        -0.5334811210632324,
        0.3043459951877594,
        1.1186772584915161,
        0.7473882436752319,
        1.1402913331985474,
        -0.017212092876434326,
        0.13552840054035187,
        0.12600566446781158,
        1.2572959661483765,
        3.5559000968933105,
        0.23223426938056946,
        -6.17825984954834,
        0.06429886072874069,
        0.2349012941122055,
        0.0008136963588185608,
        -0.05549748241901398,
        -0.10109386593103409,
        -1.5907665491104126,
        -2.397613048553467,
        -0.29586535692214966,
        0.09443601965904236,
        1.1661018133163452,
        0.0167242418974638,
        -0.49391746520996094,
        1.1125693321228027,
        0.009662053547799587,
        -3.4170022010803223,
        1.772918939590454,
        -2.7984392642974854,
        1.3703333139419556,
        1.698702096939087,
        0.33230605721473694,
        0.6397219896316528,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.16172786056995392,
        0.2866383492946625,
        1.0955311059951782,
        -0.062065571546554565,
        -0.37214380502700806,
        0.9479082822799683,
        0.23021577298641205,
        -3.0222599506378174,
        1.512844443321228,
        -2.004875421524048,
        0.910082995891571,
        1.4408659934997559,
        0.1358553022146225,
        0.3087899386882782
      ],
      "target_rad": [
        -0.16172786056995392,
        0.19933834671974182,
        0.6376311182975769,
        -0.06696557253599167,
        0.08085620403289795,
        1.2970082759857178,
        0.5793157815933228,
        -3.0222599506378174,
        1.512844443321228,
        -2.004875421524048,
        0.9973829984664917,
        1.898766040802002,
        0.140755295753479,
        -0.1442100703716278
      ],
      "elapsed_seconds": 6.15940080024302e-05
    },
    {
      "call": 42,
      "physics_step": 168,
      "sim_time_s": 0.8400000000000006,
      "observation": [
        5.367007732391357,
        1.7220141887664795,
        -5.442272186279297,
        -0.391078919172287,
        -0.8176938891410828,
        0.4224144220352173,
        -0.4371418058872223,
        -0.2914213538169861,
        0.3660932183265686,
        -0.14325888454914093,
        -0.8262994289398193,
        0.707118034362793,
        0.1263672560453415,
        -2.9730722904205322,
        0.44987213611602783,
        -0.5327838659286499,
        0.30246689915657043,
        1.1167773008346558,
        0.6874693036079407,
        1.060983419418335,
        -0.009276675060391426,
        0.3617571294307709,
        0.0026899841614067554,
        0.3827059864997864,
        4.244657516479492,
        0.09813648462295532,
        -11.195213317871094,
        0.08550320565700531,
        0.07904631644487381,
        0.03896317258477211,
        -0.09363632649183273,
        -0.08053512126207352,
        -3.594874143600464,
        -4.726288795471191,
        -0.16172786056995392,
        0.2866383492946625,
        1.0955311059951782,
        -0.062065571546554565,
        -0.37214380502700806,
        0.9479082822799683,
        0.23021577298641205,
        -3.0222599506378174,
        1.512844443321228,
        -2.004875421524048,
        0.910082995891571,
        1.4408659934997559,
        0.1358553022146225,
        0.3087899386882782,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.1572238802909851,
        0.2799615263938904,
        0.9105508327484131,
        -0.07659389823675156,
        -0.33302903175354004,
        0.66306471824646,
        0.28046390414237976,
        -2.6874122619628906,
        1.1845111846923828,
        -1.4779456853866577,
        0.6014372110366821,
        1.164392113685608,
        0.07206767797470093,
        0.20632554590702057
      ],
      "target_rad": [
        -0.1572238802909851,
        0.19266152381896973,
        0.45265084505081177,
        -0.08149389922618866,
        0.11997097730636597,
        1.0121647119522095,
        0.6295639276504517,
        -2.6874122619628906,
        1.1845111846923828,
        -1.4779456853866577,
        0.6887372136116028,
        1.6222920417785645,
        0.07696767896413803,
        -0.24667446315288544
      ],
      "elapsed_seconds": 7.259601261466742e-05
    },
    {
      "call": 43,
      "physics_step": 172,
      "sim_time_s": 0.8600000000000007,
      "observation": [
        6.632641792297363,
        0.45130306482315063,
        -5.6385111808776855,
        -0.3104744255542755,
        -0.7977620959281921,
        0.5168958306312561,
        -0.43709510564804077,
        -0.2805173993110657,
        0.3615635931491852,
        -0.13792337477207184,
        -0.7376875281333923,
        0.7054184675216675,
        -0.062411319464445114,
        -2.970147132873535,
        0.44813209772109985,
        -0.5312937498092651,
        0.30057522654533386,
        1.1137654781341553,
        0.6028718948364258,
        0.9455423355102539,
        0.0032989084720611572,
        0.6387724280357361,
        -0.31952348351478577,
        0.24660475552082062,
        4.463080406188965,
        -0.14851288497447968,
        -8.07104206085205,
        0.2033713459968567,
        -0.1392076313495636,
        0.07341013103723526,
        -0.08262438327074051,
        -0.1509261429309845,
        -4.490248680114746,
        -6.225427627563477,
        -0.1572238802909851,
        0.2799615263938904,
        0.9105508327484131,
        -0.07659389823675156,
        -0.33302903175354004,
        0.66306471824646,
        0.28046390414237976,
        -2.6874122619628906,
        1.1845111846923828,
        -1.4779456853866577,
        0.6014372110366821,
        1.164392113685608,
        0.07206767797470093,
        0.20632554590702057,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.1761992871761322,
        0.26989349722862244,
        0.8879044055938721,
        -0.02776944637298584,
        -0.29242146015167236,
        0.6378499269485474,
        0.24176447093486786,
        -2.4931933879852295,
        1.1488853693008423,
        -1.3007394075393677,
        0.5003079175949097,
        1.1462403535842896,
        0.037315256893634796,
        0.1754290759563446
      ],
      "target_rad": [
        -0.1761992871761322,
        0.18259349465370178,
        0.43000441789627075,
        -0.03266944736242294,
        0.16057854890823364,
        0.9869499206542969,
        0.5908644795417786,
        -2.4931933879852295,
        1.1488853693008423,
        -1.3007394075393677,
        0.5876079201698303,
        1.604140281677246,
        0.0422152578830719,
        -0.2775709331035614
      ],
      "elapsed_seconds": 6.659497739747167e-05
    },
    {
      "call": 44,
      "physics_step": 176,
      "sim_time_s": 0.8800000000000007,
      "observation": [
        7.355760097503662,
        -0.2325916886329651,
        -6.061527252197266,
        -0.21646560728549957,
        -0.7478209733963013,
        0.6276196241378784,
        -0.4370322823524475,
        -0.2655564546585083,
        0.35372838377952576,
        -0.13042357563972473,
        -0.6488706469535828,
        0.7021858096122742,
        -0.1752740889787674,
        -2.950488328933716,
        0.4452002942562103,
        -0.5298567414283752,
        0.2992306053638458,
        1.1116185188293457,
        0.5081600546836853,
        0.8134863376617432,
        0.00404476560652256,
        0.8238217234611511,
        -0.43009281158447266,
        0.4538426399230957,
        4.367348670959473,
        -0.16259685158729553,
        -4.063319683074951,
        1.59184730052948,
        -0.1439007818698883,
        0.06379546970129013,
        -0.05565638840198517,
        -0.053093988448381424,
        -4.803456783294678,
        -6.7047834396362305,
        -0.1761992871761322,
        0.26989349722862244,
        0.8879044055938721,
        -0.02776944637298584,
        -0.29242146015167236,
        0.6378499269485474,
        0.24176447093486786,
        -2.4931933879852295,
        1.1488853693008423,
        -1.3007394075393677,
        0.5003079175949097,
        1.1462403535842896,
        0.037315256893634796,
        0.1754290759563446,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.19874176383018494,
        0.25867682695388794,
        0.8299305438995361,
        -0.0017749983817338943,
        -0.24016402661800385,
        0.532059907913208,
        0.20189176499843597,
        -2.28952693939209,
        1.0230447053909302,
        -1.0084730386734009,
        0.3420098125934601,
        1.06292724609375,
        0.007112429477274418,
        0.11679551005363464
      ],
      "target_rad": [
        -0.19874176383018494,
        0.17137682437896729,
        0.3720305562019348,
        -0.006674998439848423,
        0.21283598244190216,
        0.8811599016189575,
        0.5509917736053467,
        -2.28952693939209,
        1.0230447053909302,
        -1.0084730386734009,
        0.42930981516838074,
        1.520827293395996,
        0.012012429535388947,
        -0.33620449900627136
      ],
      "elapsed_seconds": 0.00011521897977218032
    },
    {
      "call": 45,
      "physics_step": 180,
      "sim_time_s": 0.9000000000000007,
      "observation": [
        4.6915154457092285,
        -0.9060390591621399,
        -5.426229953765869,
        -0.12882684171199799,
        -0.6928410530090332,
        0.7094891667366028,
        -0.4372420907020569,
        -0.24568742513656616,
        0.3455483615398407,
        -0.12003759294748306,
        -0.5644211173057556,
        0.7021659016609192,
        -0.22850771248340607,
        -2.9230504035949707,
        0.44470810890197754,
        -0.5282996296882629,
        0.29315775632858276,
        1.1141263246536255,
        0.40455833077430725,
        0.680898129940033,
        -0.005081139039248228,
        1.0861390829086304,
        -0.4588334858417511,
        0.5733389854431152,
        4.100156307220459,
        -0.01303437352180481,
        -1.5819615125656128,
        1.9029169082641602,
        -0.04496213421225548,
        0.06939391046762466,
        -0.28957903385162354,
        0.06497611850500107,
        -5.219257831573486,
        -6.528975009918213,
        -0.19874176383018494,
        0.25867682695388794,
        0.8299305438995361,
        -0.0017749983817338943,
        -0.24016402661800385,
        0.532059907913208,
        0.20189176499843597,
        -2.28952693939209,
        1.0230447053909302,
        -1.0084730386734009,
        0.3420098125934601,
        1.06292724609375,
        0.007112429477274418,
        0.11679551005363464,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.2394137680530548,
        0.35222652554512024,
        0.8058465123176575,
        0.06379229575395584,
        -0.10799703747034073,
        0.4575069844722748,
        0.2984026372432709,
        -2.1020498275756836,
        0.9087147116661072,
        -0.7499485611915588,
        0.20933495461940765,
        1.0953727960586548,
        -0.09432387351989746,
        0.020478982478380203
      ],
      "target_rad": [
        -0.2394137680530548,
        0.2649265229701996,
        0.34794652462005615,
        0.05889229476451874,
        0.3450029790401459,
        0.8066070079803467,
        0.6475026607513428,
        -2.1020498275756836,
        0.9087147116661072,
        -0.7499485611915588,
        0.2966349720954895,
        1.5532727241516113,
        -0.08942387253046036,
        -0.4325210154056549
      ],
      "elapsed_seconds": 6.802496500313282e-05
    },
    {
      "call": 46,
      "physics_step": 184,
      "sim_time_s": 0.9200000000000007,
      "observation": [
        4.441197395324707,
        -1.9192143678665161,
        -5.595651149749756,
        -0.03150929883122444,
        -0.6359649300575256,
        0.7710744738578796,
        -0.437283456325531,
        -0.22050926089286804,
        0.33355650305747986,
        -0.10410165041685104,
        -0.4803936183452606,
        0.7008143067359924,
        -0.2263883501291275,
        -2.8567142486572266,
        0.44300293922424316,
        -0.5268363356590271,
        0.28352415561676025,
        1.1141284704208374,
        0.30088672041893005,
        0.5513101816177368,
        -0.0012061779852956533,
        1.3159184455871582,
        -0.6518998146057129,
        0.8983920812606812,
        4.1973795890808105,
        -0.0823601484298706,
        1.0061922073364258,
        3.9920458793640137,
        -0.08889185637235641,
        0.06588953733444214,
        -0.5775455236434937,
        -0.017891913652420044,
        -5.0887932777404785,
        -6.370709419250488,
        -0.2394137680530548,
        0.35222652554512024,
        0.8058465123176575,
        0.06379229575395584,
        -0.10799703747034073,
        0.4575069844722748,
        0.2984026372432709,
        -2.1020498275756836,
        0.9087147116661072,
        -0.7499485611915588,
        0.20933495461940765,
        1.0953727960586548,
        -0.09432387351989746,
        0.020478982478380203,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.29686489701271057,
        0.3310090899467468,
        0.7693514227867126,
        0.08053187280893326,
        -0.06651975214481354,
        0.43399950861930847,
        0.3247562348842621,
        -1.9609105587005615,
        0.803447961807251,
        -0.5762013792991638,
        0.15193556249141693,
        1.038654088973999,
        -0.13385073840618134,
        -0.00656229630112648
      ],
      "target_rad": [
        -0.29686489701271057,
        0.24370908737182617,
        0.31145143508911133,
        0.07563187181949615,
        0.38648027181625366,
        0.7830995321273804,
        0.673856258392334,
        -1.9609105587005615,
        0.803447961807251,
        -0.5762013792991638,
        0.23923556506633759,
        1.4965541362762451,
        -0.12895074486732483,
        -0.4595623016357422
      ],
      "elapsed_seconds": 6.52539893053472e-05
    },
    {
      "call": 47,
      "physics_step": 188,
      "sim_time_s": 0.9400000000000007,
      "observation": [
        4.761526584625244,
        -2.417748212814331,
        -5.718842029571533,
        0.07264362275600433,
        -0.5590620040893555,
        0.8259373903274536,
        -0.4372747242450714,
        -0.1934853345155716,
        0.3196426033973694,
        -0.08337510377168655,
        -0.39732128381729126,
        0.6905112862586975,
        -0.18493574857711792,
        -2.751840829849243,
        0.44108644127845764,
        -0.525564432144165,
        0.26832348108291626,
        1.1108858585357666,
        0.20420892536640167,
        0.42956647276878357,
        0.000657757162116468,
        1.352441430091858,
        -0.7033510804176331,
        1.0932343006134033,
        4.0754313468933105,
        -0.7640014290809631,
        2.6026017665863037,
        5.821964740753174,
        -0.0873539075255394,
        0.05564318597316742,
        -0.8456389307975769,
        -0.22609540820121765,
        -4.644970417022705,
        -5.863607883453369,
        -0.29686489701271057,
        0.3310090899467468,
        0.7693514227867126,
        0.08053187280893326,
        -0.06651975214481354,
        0.43399950861930847,
        0.3247562348842621,
        -1.9609105587005615,
        0.803447961807251,
        -0.5762013792991638,
        0.15193556249141693,
        1.038654088973999,
        -0.13385073840618134,
        -0.00656229630112648,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.32272598147392273,
        0.30034539103507996,
        0.7049170136451721,
        0.07770676910877228,
        -0.05906754732131958,
        0.3908960521221161,
        0.34231314063072205,
        -1.783765196800232,
        0.6697913408279419,
        -0.41791871190071106,
        0.09512944519519806,
        0.9308236837387085,
        -0.13099132478237152,
        -0.011844649910926819
      ],
      "target_rad": [
        -0.32272598147392273,
        0.2130453884601593,
        0.2470170259475708,
        0.07280676811933517,
        0.3939324617385864,
        0.739996075630188,
        0.691413164138794,
        -1.783765196800232,
        0.6697913408279419,
        -0.41791871190071106,
        0.1824294477701187,
        1.388723611831665,
        -0.12609133124351501,
        -0.46484464406967163
      ],
      "elapsed_seconds": 7.446605013683438e-05
    },
    {
      "call": 48,
      "physics_step": 192,
      "sim_time_s": 0.9600000000000007,
      "observation": [
        5.069661617279053,
        -2.9815850257873535,
        -5.90364933013916,
        0.1788439005613327,
        -0.4605056941509247,
        0.869453489780426,
        -0.43728405237197876,
        -0.16682970523834229,
        0.3060735762119293,
        -0.06064171344041824,
        -0.32045671343803406,
        0.6757264137268066,
        -0.11595391482114792,
        -2.618896961212158,
        0.4399302899837494,
        -0.5199654698371887,
        0.24527078866958618,
        1.1013991832733154,
        0.11795904487371445,
        0.32203370332717896,
        -0.0021811011247336864,
        1.330251932144165,
        -0.6363574862480164,
        1.1463514566421509,
        3.6708459854125977,
        -0.2885345220565796,
        4.084895133972168,
        6.880726337432861,
        -0.02326156757771969,
        0.3986606299877167,
        -1.3759998083114624,
        -0.49473586678504944,
        -4.151440143585205,
        -5.050243854522705,
        -0.32272598147392273,
        0.30034539103507996,
        0.7049170136451721,
        0.07770676910877228,
        -0.05906754732131958,
        0.3908960521221161,
        0.34231314063072205,
        -1.783765196800232,
        0.6697913408279419,
        -0.41791871190071106,
        0.09512944519519806,
        0.9308236837387085,
        -0.13099132478237152,
        -0.011844649910926819,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.349857896566391,
        0.2882140278816223,
        0.6583389639854431,
        0.08114674687385559,
        -0.047494255006313324,
        0.3649812340736389,
        0.3563961386680603,
        -1.6478829383850098,
        0.5740041732788086,
        -0.30455631017684937,
        0.049864236265420914,
        0.848810076713562,
        -0.11739885061979294,
        -0.0021392852067947388
      ],
      "target_rad": [
        -0.349857896566391,
        0.20091402530670166,
        0.2004389762878418,
        0.07624674588441849,
        0.4055057466030121,
        0.7140812277793884,
        0.7054961323738098,
        -1.6478829383850098,
        0.5740041732788086,
        -0.30455631017684937,
        0.13716423511505127,
        1.3067100048065186,
        -0.11249884963035583,
        -0.45513927936553955
      ],
      "elapsed_seconds": 6.33249874226749e-05
    },
    {
      "call": 49,
      "physics_step": 196,
      "sim_time_s": 0.9800000000000008,
      "observation": [
        5.4103474617004395,
        -3.469902276992798,
        -5.879173278808594,
        0.2849368155002594,
        -0.33920544385910034,
        0.8965214490890503,
        -0.43734148144721985,
        -0.14149394631385803,
        0.293494313955307,
        -0.038221582770347595,
        -0.25313007831573486,
        0.6689600944519043,
        -0.02395063079893589,
        -2.4703757762908936,
        0.439348429441452,
        -0.5033699870109558,
        0.21215933561325073,
        1.0858478546142578,
        0.043454334139823914,
        0.2329665869474411,
        -0.005344474222511053,
        1.1902413368225098,
        -0.6143863201141357,
        1.0968068838119507,
        3.16888427734375,
        -0.5089172124862671,
        4.774115085601807,
        7.65641450881958,
        -0.03207650035619736,
        1.040026068687439,
        -1.7642812728881836,
        -0.9241529107093811,
        -3.4516327381134033,
        -4.097246170043945,
        -0.349857896566391,
        0.2882140278816223,
        0.6583389639854431,
        0.08114674687385559,
        -0.047494255006313324,
        0.3649812340736389,
        0.3563961386680603,
        -1.6478829383850098,
        0.5740041732788086,
        -0.30455631017684937,
        0.049864236265420914,
        0.848810076713562,
        -0.11739885061979294,
        -0.0021392852067947388,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.36485061049461365,
        0.2754848301410675,
        0.5943673849105835,
        0.08517251163721085,
        -0.040867939591407776,
        0.331325501203537,
        0.36295345425605774,
        -1.4893567562103271,
        0.4713994860649109,
        -0.1903180480003357,
        0.001684918999671936,
        0.7508828043937683,
        -0.1023317351937294,
        0.010190892964601517
      ],
      "target_rad": [
        -0.36485061049461365,
        0.18818482756614685,
        0.13646739721298218,
        0.08027251064777374,
        0.4121320843696594,
        0.6804255247116089,
        0.7120534181594849,
        -1.4893567562103271,
        0.4713994860649109,
        -0.1903180480003357,
        0.08898492157459259,
        1.2087827920913696,
        -0.0974317342042923,
        -0.4428091049194336
      ],
      "elapsed_seconds": 8.224695920944214e-05
    },
    {
      "call": 50,
      "physics_step": 200,
      "sim_time_s": 1.0000000000000007,
      "observation": [
        5.396925449371338,
        -3.924264669418335,
        -5.641239643096924,
        0.384073406457901,
        -0.20238614082336426,
        0.9008482098579407,
        -0.4374118745326996,
        -0.11930394172668457,
        0.28127676248550415,
        -0.017299409955739975,
        -0.196421816945076,
        0.6506530046463013,
        0.07290289551019669,
        -2.307582139968872,
        0.4386100471019745,
        -0.4723131060600281,
        0.17323601245880127,
        1.0592464208602905,
        -0.015691090375185013,
        0.16320116817951202,
        -0.0015734696062281728,
        1.085990309715271,
        -0.6008934378623962,
        1.0166019201278687,
        2.629019021987915,
        -1.1369489431381226,
        4.838073253631592,
        8.320239067077637,
        -0.03425826132297516,
        1.7968940734863281,
        -2.0146403312683105,
        -1.5166723728179932,
        -2.6709136962890625,
        -3.136972427368164,
        -0.36485061049461365,
        0.2754848301410675,
        0.5943673849105835,
        0.08517251163721085,
        -0.040867939591407776,
        0.331325501203537,
        0.36295345425605774,
        -1.4893567562103271,
        0.4713994860649109,
        -0.1903180480003357,
        0.001684918999671936,
        0.7508828043937683,
        -0.1023317351937294,
        0.010190892964601517,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.3847128450870514,
        0.30120959877967834,
        0.5500932335853577,
        0.06246500462293625,
        -0.01706204190850258,
        0.28364041447639465,
        0.323742151260376,
        -1.3484678268432617,
        0.39563125371932983,
        -0.1268092542886734,
        -0.026220358908176422,
        0.6589584350585938,
        -0.11103209853172302,
        0.010739967226982117
      ],
      "target_rad": [
        -0.3847128450870514,
        0.2139095962047577,
        0.09219324588775635,
        0.057565003633499146,
        0.4359379708766937,
        0.6327403783798218,
        0.6728421449661255,
        -1.3484678268432617,
        0.39563125371932983,
        -0.1268092542886734,
        0.06107964366674423,
        1.1168584823608398,
        -0.10613209754228592,
        -0.4422600269317627
      ],
      "elapsed_seconds": 5.78739563934505e-05
    },
    {
      "call": 51,
      "physics_step": 204,
      "sim_time_s": 1.0200000000000002,
      "observation": [
        5.180392742156982,
        -4.254742622375488,
        -5.350241184234619,
        0.47261226177215576,
        -0.061122432351112366,
        0.8791483044624329,
        -0.43743401765823364,
        -0.09659890830516815,
        0.2687622904777527,
        0.0008588827913627028,
        -0.14934460818767548,
        0.6195802092552185,
        0.16582760214805603,
        -2.1351587772369385,
        0.43800830841064453,
        -0.42872583866119385,
        0.1310141235589981,
        1.0210869312286377,
        -0.06118558347225189,
        0.11113805323839188,
        -0.0007680103299207985,
        1.1607848405838013,
        -0.6312232613563538,
        0.8529363870620728,
        2.1832542419433594,
        -1.77086341381073,
        4.519570350646973,
        8.687411308288574,
        -0.02487608790397644,
        2.348268508911133,
        -2.1371753215789795,
        -2.07901930809021,
        -2.047095537185669,
        -2.3012685775756836,
        -0.3847128450870514,
        0.30120959877967834,
        0.5500932335853577,
        0.06246500462293625,
        -0.01706204190850258,
        0.28364041447639465,
        0.323742151260376,
        -1.3484678268432617,
        0.39563125371932983,
        -0.1268092542886734,
        -0.026220358908176422,
        0.6589584350585938,
        -0.11103209853172302,
        0.010739967226982117,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.37798163294792175,
        0.30620303750038147,
        0.45315492153167725,
        0.04470866918563843,
        -0.011976261623203754,
        0.23243799805641174,
        0.2914792597293854,
        -1.1804959774017334,
        0.3154624104499817,
        -0.04718516394495964,
        -0.05789366737008095,
        0.5200645327568054,
        -0.13765105605125427,
        -5.9563666582107544e-05
      ],
      "target_rad": [
        -0.37798163294792175,
        0.21890303492546082,
        -0.004745066165924072,
        0.039808668196201324,
        0.44102373719215393,
        0.5815379619598389,
        0.6405792236328125,
        -1.1804959774017334,
        0.3154624104499817,
        -0.04718516394495964,
        0.029406335204839706,
        0.9779645204544067,
        -0.13275106251239777,
        -0.453059583902359
      ],
      "elapsed_seconds": 6.142497295513749e-05
    },
    {
      "call": 52,
      "physics_step": 208,
      "sim_time_s": 1.0399999999999998,
      "observation": [
        4.941917896270752,
        -4.4566826820373535,
        -5.0775322914123535,
        0.5474043488502502,
        0.07836500555276871,
        0.8331910967826843,
        -0.4374299645423889,
        -0.07191340625286102,
        0.2547987401485443,
        0.015573864802718163,
        -0.11102385073900223,
        0.5760628581047058,
        0.24818268418312073,
        -1.9577099084854126,
        0.4368951916694641,
        -0.37539273500442505,
        0.08741798996925354,
        0.9695160984992981,
        -0.09697335958480835,
        0.0733167752623558,
        -0.0007579569355584681,
        1.2252025604248047,
        -0.7058412432670593,
        0.6674290299415588,
        1.7578811645507812,
        -2.482837200164795,
        3.716981887817383,
        8.844202995300293,
        -0.15190882980823517,
        2.810129404067993,
        -2.1523303985595703,
        -2.8389179706573486,
        -1.6141613721847534,
        -1.6646084785461426,
        -0.37798163294792175,
        0.30620303750038147,
        0.45315492153167725,
        0.04470866918563843,
        -0.011976261623203754,
        0.23243799805641174,
        0.2914792597293854,
        -1.1804959774017334,
        0.3154624104499817,
        -0.04718516394495964,
        -0.05789366737008095,
        0.5200645327568054,
        -0.13765105605125427,
        -5.9563666582107544e-05,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.37611502408981323,
        0.30894574522972107,
        0.35640621185302734,
        0.02424006350338459,
        -0.007153996266424656,
        0.18046972155570984,
        0.24451830983161926,
        -1.0239646434783936,
        0.24546502530574799,
        0.005907822400331497,
        -0.08100579679012299,
        0.37580546736717224,
        -0.19486530125141144,
        -0.020094092935323715
      ],
      "target_rad": [
        -0.37611502408981323,
        0.22164574265480042,
        -0.10149377584457397,
        0.019340064376592636,
        0.4458460211753845,
        0.5295697450637817,
        0.5936182737350464,
        -1.0239646434783936,
        0.24546502530574799,
        0.005907822400331497,
        0.0062942057847976685,
        0.8337054252624512,
        -0.18996530771255493,
        -0.47309410572052
      ],
      "elapsed_seconds": 8.795596659183502e-05
    },
    {
      "call": 53,
      "physics_step": 212,
      "sim_time_s": 1.0599999999999994,
      "observation": [
        4.676465034484863,
        -4.600563049316406,
        -4.781445503234863,
        0.6064210534095764,
        0.21184353530406952,
        0.7664045095443726,
        -0.43744561076164246,
        -0.04619063809514046,
        0.23907077312469482,
        0.027279652655124664,
        -0.08078490197658539,
        0.5237811207771301,
        0.317717969417572,
        -1.7783743143081665,
        0.43640658259391785,
        -0.3159068822860718,
        0.04366918280720711,
        0.9031636118888855,
        -0.1287098526954651,
        0.04566523805260658,
        -0.0005332696600817144,
        1.3045557737350464,
        -0.8207297921180725,
        0.5414276123046875,
        1.3683451414108276,
        -2.698490858078003,
        3.252000093460083,
        8.918768882751465,
        0.010073096491396427,
        3.030582904815674,
        -2.171442747116089,
        -3.535862445831299,
        -1.5432878732681274,
        -1.2246042490005493,
        -0.37611502408981323,
        0.30894574522972107,
        0.35640621185302734,
        0.02424006350338459,
        -0.007153996266424656,
        0.18046972155570984,
        0.24451830983161926,
        -1.0239646434783936,
        0.24546502530574799,
        0.005907822400331497,
        -0.08100579679012299,
        0.37580546736717224,
        -0.19486530125141144,
        -0.020094092935323715,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.3866216838359833,
        0.31980329751968384,
        0.3155653476715088,
        -0.010412821546196938,
        -0.02190912887454033,
        0.13766762614250183,
        0.17779622972011566,
        -0.9058207273483276,
        0.18432781100273132,
        0.015152305364608765,
        -0.09146809577941895,
        0.2850477993488312,
        -0.23175175487995148,
        -0.03267460688948631
      ],
      "target_rad": [
        -0.3866216838359833,
        0.23250329494476318,
        -0.14233464002609253,
        -0.015312821604311466,
        0.4310908913612366,
        0.48676761984825134,
        0.5268962383270264,
        -0.9058207273483276,
        0.18432781100273132,
        0.015152305364608765,
        -0.004168093204498291,
        0.7429478168487549,
        -0.22685176134109497,
        -0.4856746196746826
      ],
      "elapsed_seconds": 7.561600068584085e-05
    },
    {
      "call": 54,
      "physics_step": 216,
      "sim_time_s": 1.079999999999999,
      "observation": [
        4.420090198516846,
        -4.507739543914795,
        -4.570308208465576,
        0.6472858786582947,
        0.33612966537475586,
        0.6841329336166382,
        -0.4374203681945801,
        -0.019405502825975418,
        0.22029736638069153,
        0.03460809588432312,
        -0.05864788219332695,
        0.4652354419231415,
        0.3689526617527008,
        -1.6020803451538086,
        0.43519774079322815,
        -0.25560635328292847,
        0.0018441112479194999,
        0.8243229985237122,
        -0.1592704951763153,
        0.025023257359862328,
        0.0025212920736521482,
        1.3352644443511963,
        -0.9841216206550598,
        0.26332366466522217,
        0.9632301330566406,
        -3.116154670715332,
        2.0015456676483154,
        8.64689826965332,
        -0.2674359083175659,
        2.993840456008911,
        -2.0010063648223877,
        -4.145252704620361,
        -1.473840594291687,
        -0.9267195463180542,
        -0.3866216838359833,
        0.31980329751968384,
        0.3155653476715088,
        -0.010412821546196938,
        -0.02190912887454033,
        0.13766762614250183,
        0.17779622972011566,
        -0.9058207273483276,
        0.18432781100273132,
        0.015152305364608765,
        -0.09146809577941895,
        0.2850477993488312,
        -0.23175175487995148,
        -0.03267460688948631,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.3921014964580536,
        0.3278363049030304,
        0.2845689654350281,
        -0.04998720437288284,
        -0.04043502360582352,
        0.08778540790081024,
        0.10332687944173813,
        -0.8072252869606018,
        0.1347150206565857,
        0.00497027114033699,
        -0.0964609831571579,
        0.19896462559700012,
        -0.2587110698223114,
        -0.045248840004205704
      ],
      "target_rad": [
        -0.3921014964580536,
        0.24053630232810974,
        -0.17333102226257324,
        -0.054887205362319946,
        0.4125649929046631,
        0.43688541650772095,
        0.45242688059806824,
        -0.8072252869606018,
        0.1347150206565857,
        0.00497027114033699,
        -0.009160980582237244,
        0.6568646430969238,
        -0.2538110613822937,
        -0.4982488453388214
      ],
      "elapsed_seconds": 9.657704504206777e-05
    },
    {
      "call": 55,
      "physics_step": 220,
      "sim_time_s": 1.0999999999999985,
      "observation": [
        4.212588310241699,
        -4.636322021484375,
        -4.380501747131348,
        0.6709555387496948,
        0.449739933013916,
        0.5895359516143799,
        -0.434679239988327,
        0.017612701281905174,
        0.20508122444152832,
        0.03517090901732445,
        -0.044747382402420044,
        0.4026884436607361,
        0.39768561720848083,
        -1.4335410594940186,
        0.4347158372402191,
        -0.19978821277618408,
        -0.035830333828926086,
        0.7360020875930786,
        -0.1888173371553421,
        0.009070212952792645,
        0.2550595998764038,
        2.2215898036956787,
        -0.5029845833778381,
        -0.09083152562379837,
        0.5509039163589478,
        -3.1440606117248535,
        1.0659356117248535,
        8.211752891540527,
        0.014007068239152431,
        2.663649082183838,
        -1.788865089416504,
        -4.52259635925293,
        -1.446836233139038,
        -0.7248765826225281,
        -0.3921014964580536,
        0.3278363049030304,
        0.2845689654350281,
        -0.04998720437288284,
        -0.04043502360582352,
        0.08778540790081024,
        0.10332687944173813,
        -0.8072252869606018,
        0.1347150206565857,
        0.00497027114033699,
        -0.0964609831571579,
        0.19896462559700012,
        -0.2587110698223114,
        -0.045248840004205704,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.4026878774166107,
        0.3296484351158142,
        0.26773500442504883,
        -0.06465686112642288,
        -0.05656653642654419,
        0.048154301941394806,
        0.03101728856563568,
        -0.7315530180931091,
        0.11996276676654816,
        0.006067804992198944,
        -0.09962686896324158,
        0.1550184190273285,
        -0.244797483086586,
        -0.04108792170882225
      ],
      "target_rad": [
        -0.4026878774166107,
        0.24234843254089355,
        -0.1901649832725525,
        -0.06955686211585999,
        0.3964334726333618,
        0.3972542881965637,
        0.3801172971725464,
        -0.7315530180931091,
        0.11996276676654816,
        0.006067804992198944,
        -0.012326866388320923,
        0.6129183769226074,
        -0.2398974895477295,
        -0.49408793449401855
      ],
      "elapsed_seconds": 5.802401574328542e-05
    },
    {
      "call": 56,
      "physics_step": 224,
      "sim_time_s": 1.119999999999998,
      "observation": [
        4.195669174194336,
        -4.644398212432861,
        -4.281998157501221,
        0.6770065426826477,
        0.5532500743865967,
        0.4853622317314148,
        -0.427842915058136,
        0.06846209615468979,
        0.2005774825811386,
        0.029297195374965668,
        -0.03831499442458153,
        0.33780068159103394,
        0.40231409668922424,
        -1.2764781713485718,
        0.4311421811580658,
        -0.15101268887519836,
        -0.06802146136760712,
        0.6430674195289612,
        -0.21461938321590424,
        -0.003022734774276614,
        0.3920552730560303,
        2.6865296363830566,
        -0.08561614900827408,
        -0.3891405165195465,
        0.20281997323036194,
        -3.1929707527160645,
        -0.14094068109989166,
        7.59252405166626,
        -0.1665835678577423,
        2.29976749420166,
        -1.513899803161621,
        -4.6553826332092285,
        -1.1960322856903076,
        -0.5367609858512878,
        -0.4026878774166107,
        0.3296484351158142,
        0.26773500442504883,
        -0.06465686112642288,
        -0.05656653642654419,
        0.048154301941394806,
        0.03101728856563568,
        -0.7315530180931091,
        0.11996276676654816,
        0.006067804992198944,
        -0.09962686896324158,
        0.1550184190273285,
        -0.244797483086586,
        -0.04108792170882225,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.3952934145927429,
        0.3210645318031311,
        0.23580007255077362,
        -0.06434133648872375,
        -0.0783327966928482,
        0.009978584945201874,
        -0.028684258460998535,
        -0.655221164226532,
        0.11572001874446869,
        0.02509763091802597,
        -0.10854651033878326,
        0.11468485742807388,
        -0.1974819004535675,
        -0.013801179826259613
      ],
      "target_rad": [
        -0.3952934145927429,
        0.23376452922821045,
        -0.2220999151468277,
        -0.06924133747816086,
        0.374667227268219,
        0.359078586101532,
        0.320415735244751,
        -0.655221164226532,
        0.11572001874446869,
        0.02509763091802597,
        -0.02124650776386261,
        0.572584867477417,
        -0.192581906914711,
        -0.4668011963367462
      ],
      "elapsed_seconds": 0.00010280800051987171
    },
    {
      "call": 57,
      "physics_step": 228,
      "sim_time_s": 1.1399999999999977,
      "observation": [
        3.9769468307495117,
        -3.4721860885620117,
        -5.971221446990967,
        0.653033435344696,
        0.6552761197090149,
        0.37968480587005615,
        -0.41812828183174133,
        0.12086711823940277,
        0.19777770340442657,
        0.020377399399876595,
        -0.0379234179854393,
        0.2734701335430145,
        0.3862500786781311,
        -1.130143642425537,
        0.424709290266037,
        -0.11093073338270187,
        -0.09437790513038635,
        0.5518359541893005,
        -0.24457184970378876,
        -0.0008925506263040006,
        0.5726490616798401,
        2.476036548614502,
        -0.28928086161613464,
        -0.41433659195899963,
        -0.07065394520759583,
        -3.2189300060272217,
        -1.0970593690872192,
        7.2540106773376465,
        -0.41953879594802856,
        1.7619454860687256,
        -1.1724246740341187,
        -4.377492427825928,
        -2.270150661468506,
        0.9132052063941956,
        -0.3952934145927429,
        0.3210645318031311,
        0.23580007255077362,
        -0.06434133648872375,
        -0.0783327966928482,
        0.009978584945201874,
        -0.028684258460998535,
        -0.655221164226532,
        0.11572001874446869,
        0.02509763091802597,
        -0.10854651033878326,
        0.11468485742807388,
        -0.1974819004535675,
        -0.013801179826259613,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.363212525844574,
        0.30113503336906433,
        0.2126598060131073,
        -0.06920731067657471,
        -0.07943175733089447,
        -0.04617035388946533,
        -0.054814744740724564,
        -0.6463715434074402,
        0.10782316327095032,
        0.03810930997133255,
        -0.13094684481620789,
        0.04376288503408432,
        -0.1539090871810913,
        0.014193542301654816
      ],
      "target_rad": [
        -0.363212525844574,
        0.21383503079414368,
        -0.24524018168449402,
        -0.07410731166601181,
        0.37356823682785034,
        0.3029296398162842,
        0.29428523778915405,
        -0.6463715434074402,
        0.10782316327095032,
        0.03810930997133255,
        -0.04364684224128723,
        0.5016628503799438,
        -0.1490090936422348,
        -0.4388064742088318
      ],
      "elapsed_seconds": 0.00012229004641994834
    },
    {
      "call": 58,
      "physics_step": 232,
      "sim_time_s": 1.1599999999999973,
      "observation": [
        3.9891109466552734,
        -3.44844388961792,
        -7.6752800941467285,
        0.573237419128418,
        0.7695848941802979,
        0.2813146114349365,
        -0.4045792818069458,
        0.16822925209999084,
        0.1928199678659439,
        0.01051497645676136,
        -0.04094398394227028,
        0.20711587369441986,
        0.36125075817108154,
        -0.9956390261650085,
        0.42251574993133545,
        -0.07762482017278671,
        -0.11781761050224304,
        0.4720650613307953,
        -0.29226791858673096,
        0.026043472811579704,
        0.7096198797225952,
        2.2963030338287354,
        -0.19086164236068726,
        -0.5466445684432983,
        -0.18519972264766693,
        -3.3887276649475098,
        -1.3126804828643799,
        6.287293434143066,
        0.05527043342590332,
        1.5928699970245361,
        -1.1564724445343018,
        -3.7979891300201416,
        -2.1548500061035156,
        1.3552082777023315,
        -0.363212525844574,
        0.30113503336906433,
        0.2126598060131073,
        -0.06920731067657471,
        -0.07943175733089447,
        -0.04617035388946533,
        -0.054814744740724564,
        -0.6463715434074402,
        0.10782316327095032,
        0.03810930997133255,
        -0.13094684481620789,
        0.04376288503408432,
        -0.1539090871810913,
        0.014193542301654816,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.33278053998947144,
        0.3087274730205536,
        0.2066701203584671,
        -0.07249418646097183,
        -0.08555540442466736,
        -0.05943925678730011,
        -0.027604326605796814,
        -0.7678810954093933,
        0.17341884970664978,
        0.023743759840726852,
        -0.16593697667121887,
        0.017948925495147705,
        -0.1544114351272583,
        0.07324673235416412
      ],
      "target_rad": [
        -0.33278053998947144,
        0.22142747044563293,
        -0.2512298822402954,
        -0.07739418745040894,
        0.36744460463523865,
        0.2896607518196106,
        0.3214956521987915,
        -0.7678810954093933,
        0.17341884970664978,
        0.023743759840726852,
        -0.07863697409629822,
        0.475848913192749,
        -0.1495114415884018,
        -0.3797532916069031
      ],
      "elapsed_seconds": 6.39149802736938e-05
    },
    {
      "call": 59,
      "physics_step": 236,
      "sim_time_s": 1.1799999999999968,
      "observation": [
        2.242445468902588,
        -1.7798441648483276,
        -5.802903175354004,
        0.4720321595668793,
        0.8609945178031921,
        0.1894046515226364,
        -0.3920254409313202,
        0.20410528779029846,
        0.20020978152751923,
        -0.001006930717267096,
        -0.049778807908296585,
        0.14442408084869385,
        0.3305703401565552,
        -0.8935920000076294,
        0.4251399040222168,
        -0.05111845210194588,
        -0.13686572015285492,
        0.3970308303833008,
        -0.3166768550872803,
        0.04798617959022522,
        0.10663893073797226,
        0.6702296137809753,
        1.8879194259643555,
        -0.5088014602661133,
        -1.0873198509216309,
        -2.5035829544067383,
        -1.6732569932937622,
        4.271413803100586,
        0.1138896644115448,
        1.0064265727996826,
        -0.310193806886673,
        -3.5942609310150146,
        -0.6898091435432434,
        0.9482014179229736,
        -0.33278053998947144,
        0.3087274730205536,
        0.2066701203584671,
        -0.07249418646097183,
        -0.08555540442466736,
        -0.05943925678730011,
        -0.027604326605796814,
        -0.7678810954093933,
        0.17341884970664978,
        0.023743759840726852,
        -0.16593697667121887,
        0.017948925495147705,
        -0.1544114351272583,
        0.07324673235416412,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.14820827543735504,
        0.19821391999721527,
        -0.06758051365613937,
        -0.09287472069263458,
        0.1901526302099228,
        -0.15421904623508453,
        0.00010419799946248531,
        -0.6861155033111572,
        0.16689908504486084,
        0.08743869513273239,
        -0.1345565766096115,
        -0.028469031676650047,
        -0.0326942503452301,
        -0.08820824325084686
      ],
      "target_rad": [
        -0.14820827543735504,
        0.11091391742229462,
        -0.5254805088043213,
        -0.09777472168207169,
        0.64315265417099,
        0.19488094747066498,
        0.3492041826248169,
        -0.6861155033111572,
        0.16689908504486084,
        0.08743869513273239,
        -0.04725657403469086,
        0.4294309616088867,
        -0.027794249355793,
        -0.5412082672119141
      ],
      "elapsed_seconds": 8.15660459920764e-05
    },
    {
      "call": 60,
      "physics_step": 240,
      "sim_time_s": 1.1999999999999964,
      "observation": [
        -0.22277314960956573,
        0.17978443205356598,
        -2.477851152420044,
        0.4135895073413849,
        0.8919072151184082,
        0.18288034200668335,
        -0.39754125475883484,
        0.19050732254981995,
        0.24795058369636536,
        -0.005621171556413174,
        -0.07096201926469803,
        0.10653624683618546,
        0.29575592279434204,
        -0.8300902247428894,
        0.4259370267391205,
        -0.0333825908601284,
        -0.12729597091674805,
        0.3263431489467621,
        -0.31073981523513794,
        0.05355793610215187,
        -0.2980334758758545,
        -1.0547794103622437,
        2.0716497898101807,
        -0.13546991348266602,
        -0.8169593214988708,
        -1.7330806255340576,
        -1.631120204925537,
        2.5816872119903564,
        0.2836267650127411,
        0.860718846321106,
        0.6653209328651428,
        -3.4984469413757324,
        0.7675707936286926,
        -0.04088158905506134,
        -0.14820827543735504,
        0.19821391999721527,
        -0.06758051365613937,
        -0.09287472069263458,
        0.1901526302099228,
        -0.15421904623508453,
        0.00010419799946248531,
        -0.6861155033111572,
        0.16689908504486084,
        0.08743869513273239,
        -0.1345565766096115,
        -0.028469031676650047,
        -0.0326942503452301,
        -0.08820824325084686,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.001008491963148117,
        0.198231041431427,
        -0.32938042283058167,
        -0.19084399938583374,
        0.5247949957847595,
        -0.3470713198184967,
        0.11082357913255692,
        -0.674927830696106,
        0.19637472927570343,
        -0.062189776450395584,
        -0.23463109135627747,
        0.08970548957586288,
        -0.16694122552871704,
        -0.2534540295600891
      ],
      "target_rad": [
        -0.001008491963148117,
        0.11093103885650635,
        -0.7872804403305054,
        -0.19574399292469025,
        0.9777950048446655,
        0.0020286738872528076,
        0.45992356538772583,
        -0.674927830696106,
        0.19637472927570343,
        -0.062189776450395584,
        -0.1473310887813568,
        0.5476054549217224,
        -0.16204123198986053,
        -0.7064540386199951
      ],
      "elapsed_seconds": 6.39850040897727e-05
    },
    {
      "call": 61,
      "physics_step": 244,
      "sim_time_s": 1.219999999999996,
      "observation": [
        -0.5081601142883301,
        0.5543960332870483,
        -1.1186819076538086,
        0.3839709162712097,
        0.9022519588470459,
        0.19623400270938873,
        -0.3890920877456665,
        0.17179609835147858,
        0.2596903145313263,
        -0.011856191791594028,
        -0.059141382575035095,
        0.06707684695720673,
        0.2699269950389862,
        -0.7899194955825806,
        0.43632301688194275,
        -0.02476644515991211,
        -0.11823063343763351,
        0.2648422122001648,
        -0.2917894721031189,
        0.03568520396947861,
        0.8602325320243835,
        -0.7167630791664124,
        -0.35045093297958374,
        -0.40166881680488586,
        1.36765718460083,
        -2.1461400985717773,
        -1.1048365831375122,
        1.7216600179672241,
        0.6301806569099426,
        0.23095962405204773,
        0.2601005733013153,
        -2.837250232696533,
        1.0188032388687134,
        -1.3076010942459106,
        -0.001008491963148117,
        0.198231041431427,
        -0.32938042283058167,
        -0.19084399938583374,
        0.5247949957847595,
        -0.3470713198184967,
        0.11082357913255692,
        -0.674927830696106,
        0.19637472927570343,
        -0.062189776450395584,
        -0.23463109135627747,
        0.08970548957586288,
        -0.16694122552871704,
        -0.2534540295600891,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.016263246536254883,
        0.18512864410877228,
        -0.3701770305633545,
        -0.19375362992286682,
        0.556315004825592,
        -0.35512080788612366,
        0.1650862693786621,
        -0.6896556615829468,
        0.2398781180381775,
        -0.07878027856349945,
        -0.2575993239879608,
        0.09361236542463303,
        -0.20140793919563293,
        -0.2500350773334503
      ],
      "target_rad": [
        -0.016263246536254883,
        0.09782864153385162,
        -0.8280770182609558,
        -0.19865362346172333,
        1.009315013885498,
        -0.0060208141803741455,
        0.5141862630844116,
        -0.6896556615829468,
        0.2398781180381775,
        -0.07878027856349945,
        -0.17029932141304016,
        0.5515123605728149,
        -0.19650794565677643,
        -0.7030351161956787
      ],
      "elapsed_seconds": 7.252499926835299e-05
    },
    {
      "call": 62,
      "physics_step": 248,
      "sim_time_s": 1.2399999999999956,
      "observation": [
        -0.5050417184829712,
        0.7600703835487366,
        -0.38899603486061096,
        0.36982864141464233,
        0.9048017263412476,
        0.211093932390213,
        -0.3603004515171051,
        0.16090041399002075,
        0.2296830266714096,
        -0.024424050003290176,
        -0.010696480982005596,
        0.02092839777469635,
        0.25664153695106506,
        -0.7632358074188232,
        0.44270920753479004,
        -0.0255125779658556,
        -0.11813054233789444,
        0.21650615334510803,
        -0.27276256680488586,
        0.0012009321944788098,
        1.7505290508270264,
        -0.4365728497505188,
        -2.1183419227600098,
        -0.7865496873855591,
        2.9887397289276123,
        -2.3965797424316406,
        -0.42143651843070984,
        1.1277598142623901,
        0.03507739678025246,
        -0.17110230028629303,
        -0.1431964784860611,
        -2.1709659099578857,
        0.8946473002433777,
        -1.9078328609466553,
        -0.016263246536254883,
        0.18512864410877228,
        -0.3701770305633545,
        -0.19375362992286682,
        0.556315004825592,
        -0.35512080788612366,
        0.1650862693786621,
        -0.6896556615829468,
        0.2398781180381775,
        -0.07878027856349945,
        -0.2575993239879608,
        0.09361236542463303,
        -0.20140793919563293,
        -0.2500350773334503,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.026585347950458527,
        0.16952678561210632,
        -0.3560195863246918,
        -0.17526891827583313,
        0.5200461745262146,
        -0.3204754889011383,
        0.1879831999540329,
        -0.6308773756027222,
        0.2613943815231323,
        -0.04862818494439125,
        -0.2530028522014618,
        0.07504784315824509,
        -0.18106529116630554,
        -0.21530216932296753
      ],
      "target_rad": [
        -0.026585347950458527,
        0.08222678303718567,
        -0.8139195442199707,
        -0.18016891181468964,
        0.9730461835861206,
        0.028624504804611206,
        0.5370832085609436,
        -0.6308773756027222,
        0.2613943815231323,
        -0.04862818494439125,
        -0.16570284962654114,
        0.532947838306427,
        -0.17616529762744904,
        -0.6683021783828735
      ],
      "elapsed_seconds": 6.711500464007258e-05
    },
    {
      "call": 63,
      "physics_step": 252,
      "sim_time_s": 1.2599999999999951,
      "observation": [
        -0.27360907196998596,
        0.9576053023338318,
        -0.20448392629623413,
        0.3614651560783386,
        0.9050371050834656,
        0.22416675090789795,
        -0.31941744685173035,
        0.15308377146720886,
        0.1742885261774063,
        -0.04415252432227135,
        0.05973544344305992,
        -0.02722548320889473,
        0.253780722618103,
        -0.7437210083007812,
        0.441160649061203,
        -0.030440213158726692,
        -0.12479306757450104,
        0.17980757355690002,
        -0.2560247778892517,
        -0.03763482719659805,
        2.1730825901031494,
        -0.3917102515697479,
        -3.065469741821289,
        -1.096145510673523,
        3.7618885040283203,
        -2.4020049571990967,
        -0.030522771179676056,
        0.890076220035553,
        -0.10057701170444489,
        -0.2815716564655304,
        -0.4286227822303772,
        -1.6408637762069702,
        0.7950480580329895,
        -1.9326015710830688,
        -0.026585347950458527,
        0.16952678561210632,
        -0.3560195863246918,
        -0.17526891827583313,
        0.5200461745262146,
        -0.3204754889011383,
        0.1879831999540329,
        -0.6308773756027222,
        0.2613943815231323,
        -0.04862818494439125,
        -0.2530028522014618,
        0.07504784315824509,
        -0.18106529116630554,
        -0.21530216932296753,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.030582338571548462,
        0.15219171345233917,
        -0.3221472203731537,
        -0.1592649519443512,
        0.463767945766449,
        -0.2801516652107239,
        0.1957930624485016,
        -0.5546380877494812,
        0.2597039043903351,
        -0.010219823569059372,
        -0.2399614006280899,
        0.05058351159095764,
        -0.14291100203990936,
        -0.17511799931526184
      ],
      "target_rad": [
        -0.030582338571548462,
        0.06489171087741852,
        -0.7800471782684326,
        -0.1641649454832077,
        0.916767954826355,
        0.06894832849502563,
        0.5448930263519287,
        -0.5546380877494812,
        0.2597039043903351,
        -0.010219823569059372,
        -0.15266139805316925,
        0.5084835290908813,
        -0.13801100850105286,
        -0.6281180381774902
      ],
      "elapsed_seconds": 4.9084017518907785e-05
    },
    {
      "call": 64,
      "physics_step": 256,
      "sim_time_s": 1.2799999999999947,
      "observation": [
        0.049673259258270264,
        1.0878549814224243,
        -0.13190977275371552,
        0.352874219417572,
        0.9059469103813171,
        0.2339656800031662,
        -0.27404823899269104,
        0.1428239345550537,
        0.1104193702340126,
        -0.06656721234321594,
        0.13405099511146545,
        -0.07053609937429428,
        0.25488945841789246,
        -0.7233107089996338,
        0.43939101696014404,
        -0.03461257740855217,
        -0.13455668091773987,
        0.15168285369873047,
        -0.239820659160614,
        -0.07217017561197281,
        2.322174310684204,
        -0.5843610763549805,
        -3.2568273544311523,
        -1.1086920499801636,
        3.6534478664398193,
        -1.9623489379882812,
        0.03398744761943817,
        1.1533629894256592,
        -0.07847218960523605,
        -0.14888867735862732,
        -0.5392308235168457,
        -1.2931749820709229,
        0.8075306415557861,
        -1.6014498472213745,
        -0.030582338571548462,
        0.15219171345233917,
        -0.3221472203731537,
        -0.1592649519443512,
        0.463767945766449,
        -0.2801516652107239,
        0.1957930624485016,
        -0.5546380877494812,
        0.2597039043903351,
        -0.010219823569059372,
        -0.2399614006280899,
        0.05058351159095764,
        -0.14291100203990936,
        -0.17511799931526184,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.03633012995123863,
        0.13758383691310883,
        -0.29595425724983215,
        -0.14499959349632263,
        0.4184872508049011,
        -0.24599993228912354,
        0.19762691855430603,
        -0.5031826496124268,
        0.25451886653900146,
        0.01901625469326973,
        -0.224286749958992,
        0.03392695635557175,
        -0.10472306609153748,
        -0.14614969491958618
      ],
      "target_rad": [
        -0.03633012995123863,
        0.05028383433818817,
        -0.7538542747497559,
        -0.14989958703517914,
        0.8714872598648071,
        0.10310006141662598,
        0.5467269420623779,
        -0.5031826496124268,
        0.25451886653900146,
        0.01901625469326973,
        -0.13698674738407135,
        0.49182695150375366,
        -0.09982306510210037,
        -0.5991497039794922
      ],
      "elapsed_seconds": 7.393601117655635e-05
    },
    {
      "call": 65,
      "physics_step": 260,
      "sim_time_s": 1.2999999999999943,
      "observation": [
        0.18010707199573517,
        1.322139859199524,
        -0.7092067003250122,
        0.3395671248435974,
        0.9099974036216736,
        0.23790517449378967,
        -0.22834044694900513,
        0.13050438463687897,
        0.046084463596343994,
        -0.0866231769323349,
        0.20064586400985718,
        -0.10467738658189774,
        0.25547030568122864,
        -0.6974438428878784,
        0.43815311789512634,
        -0.03540856018662453,
        -0.14539773762226105,
        0.12917613983154297,
        -0.2223414182662964,
        -0.09831807017326355,
        2.2257344722747803,
        -0.7028374075889587,
        -3.0935299396514893,
        -0.940923810005188,
        3.110123872756958,
        -1.5997326374053955,
        0.061230238527059555,
        1.3065433502197266,
        -0.05057580769062042,
        -0.01228141225874424,
        -0.47854262590408325,
        -1.0016403198242188,
        0.8970367312431335,
        -1.142670750617981,
        -0.03633012995123863,
        0.13758383691310883,
        -0.29595425724983215,
        -0.14499959349632263,
        0.4184872508049011,
        -0.24599993228912354,
        0.19762691855430603,
        -0.5031826496124268,
        0.25451886653900146,
        0.01901625469326973,
        -0.224286749958992,
        0.03392695635557175,
        -0.10472306609153748,
        -0.14614969491958618,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.0421924851834774,
        0.12532398104667664,
        -0.27825236320495605,
        -0.13905644416809082,
        0.3872584104537964,
        -0.22601674497127533,
        0.20503553748130798,
        -0.49620959162712097,
        0.25014734268188477,
        0.035353779792785645,
        -0.21399717032909393,
        0.015939787030220032,
        -0.08377687633037567,
        -0.1307065784931183
      ],
      "target_rad": [
        -0.0421924851834774,
        0.03802397847175598,
        -0.7361523509025574,
        -0.14395643770694733,
        0.8402584195137024,
        0.12308324873447418,
        0.5541355609893799,
        -0.49620959162712097,
        0.25014734268188477,
        0.035353779792785645,
        -0.12669716775417328,
        0.47383975982666016,
        -0.07887687534093857,
        -0.5837066173553467
      ],
      "elapsed_seconds": 4.85939672216773e-05
    },
    {
      "call": 66,
      "physics_step": 264,
      "sim_time_s": 1.3199999999999938,
      "observation": [
        0.2867847979068756,
        1.3538978099822998,
        -0.8389273285865784,
        0.3191772401332855,
        0.9163541197776794,
        0.24170440435409546,
        -0.18556490540504456,
        0.11381489038467407,
        -0.011022149585187435,
        -0.10227327048778534,
        0.25369033217430115,
        -0.1288113296031952,
        0.2565237283706665,
        -0.6671175956726074,
        0.4374372065067291,
        -0.033455055207014084,
        -0.15403781831264496,
        0.11072438955307007,
        -0.20340798795223236,
        -0.1155896857380867,
        2.0769011974334717,
        -0.8921802043914795,
        -2.718959331512451,
        -0.677009105682373,
        2.382610321044922,
        -1.0122305154800415,
        0.04593241587281227,
        1.6070669889450073,
        -0.030156703665852547,
        0.15066637098789215,
        -0.40059760212898254,
        -0.8691564798355103,
        0.9593764543533325,
        -0.7125410437583923,
        -0.0421924851834774,
        0.12532398104667664,
        -0.27825236320495605,
        -0.13905644416809082,
        0.3872584104537964,
        -0.22601674497127533,
        0.20503553748130798,
        -0.49620959162712097,
        0.25014734268188477,
        0.035353779792785645,
        -0.21399717032909393,
        0.015939787030220032,
        -0.08377687633037567,
        -0.1307065784931183,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.04796670377254486,
        0.12059932947158813,
        -0.28007930517196655,
        -0.12754108011722565,
        0.37475964426994324,
        -0.2126985788345337,
        0.20400117337703705,
        -0.510286271572113,
        0.25992292165756226,
        0.04360654205083847,
        -0.20452067255973816,
        0.0065856389701366425,
        -0.0718531683087349,
        -0.1280832588672638
      ],
      "target_rad": [
        -0.04796670377254486,
        0.03329932689666748,
        -0.7379792928695679,
        -0.13244107365608215,
        0.8277596235275269,
        0.13640141487121582,
        0.5531011819839478,
        -0.510286271572113,
        0.25992292165756226,
        0.04360654205083847,
        -0.1172206699848175,
        0.46448561549186707,
        -0.06695316731929779,
        -0.5810832977294922
      ],
      "elapsed_seconds": 5.615496775135398e-05
    },
    {
      "call": 67,
      "physics_step": 268,
      "sim_time_s": 1.3399999999999934,
      "observation": [
        0.37980353832244873,
        1.4345098733901978,
        -1.2716511487960815,
        0.2921726107597351,
        0.9247149229049683,
        0.2440030574798584,
        -0.14712893962860107,
        0.0939784124493599,
        -0.06036694347858429,
        -0.11255715042352676,
        0.2928919494152069,
        -0.14355526864528656,
        0.25689685344696045,
        -0.6346285939216614,
        0.43698447942733765,
        -0.02897188812494278,
        -0.160532608628273,
        0.09485913068056107,
        -0.18404531478881836,
        -0.12562522292137146,
        1.8251597881317139,
        -1.0436961650848389,
        -2.311978816986084,
        -0.42804625630378723,
        1.7260127067565918,
        -0.5917219519615173,
        0.005227300338447094,
        1.621060848236084,
        -0.018634403124451637,
        0.2585523724555969,
        -0.2808606028556824,
        -0.7464378476142883,
        0.9611556529998779,
        -0.39008858799934387,
        -0.04796670377254486,
        0.12059932947158813,
        -0.28007930517196655,
        -0.12754108011722565,
        0.37475964426994324,
        -0.2126985788345337,
        0.20400117337703705,
        -0.510286271572113,
        0.25992292165756226,
        0.04360654205083847,
        -0.20452067255973816,
        0.0065856389701366425,
        -0.0718531683087349,
        -0.1280832588672638,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.05554148554801941,
        0.11799436062574387,
        -0.2819155752658844,
        -0.1162266880273819,
        0.3625856637954712,
        -0.20091655850410461,
        0.2012072652578354,
        -0.5447064638137817,
        0.2721996605396271,
        0.05263160914182663,
        -0.19414858520030975,
        -0.008684705942869186,
        -0.06567412614822388,
        -0.13002841174602509
      ],
      "target_rad": [
        -0.05554148554801941,
        0.03069435805082321,
        -0.7398155927658081,
        -0.121126689016819,
        0.8155856728553772,
        0.1481834352016449,
        0.5503072738647461,
        -0.5447064638137817,
        0.2721996605396271,
        0.05263160914182663,
        -0.1068485826253891,
        0.449215292930603,
        -0.060774125158786774,
        -0.5830284357070923
      ],
      "elapsed_seconds": 6.408500485122204e-05
    },
    {
      "call": 68,
      "physics_step": 272,
      "sim_time_s": 1.359999999999993,
      "observation": [
        0.45245131850242615,
        1.431296706199646,
        -1.7854875326156616,
        0.25568699836730957,
        0.9354798197746277,
        0.2439296394586563,
        -0.11419901251792908,
        0.07161711901426315,
        -0.10147169232368469,
        -0.11832833290100098,
        0.3201688230037689,
        -0.15094470977783203,
        0.25677013397216797,
        -0.6046133041381836,
        0.4367414116859436,
        -0.022617211565375328,
        -0.1643158197402954,
        0.08067198097705841,
        -0.16535398364067078,
        -0.1306557059288025,
        1.5422108173370361,
        -1.1525970697402954,
        -1.9030085802078247,
        -0.21312379837036133,
        1.1648350954055786,
        -0.25152772665023804,
        -0.015942299738526344,
        1.4304466247558594,
        -0.009154205210506916,
        0.3442991375923157,
        -0.13787642121315002,
        -0.6831791996955872,
        0.9102873802185059,
        -0.17923426628112793,
        -0.05554148554801941,
        0.11799436062574387,
        -0.2819155752658844,
        -0.1162266880273819,
        0.3625856637954712,
        -0.20091655850410461,
        0.2012072652578354,
        -0.5447064638137817,
        0.2721996605396271,
        0.05263160914182663,
        -0.19414858520030975,
        -0.008684705942869186,
        -0.06567412614822388,
        -0.13002841174602509,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.06824212521314621,
        0.11773794144392014,
        -0.28929322957992554,
        -0.09921013563871384,
        0.3496931195259094,
        -0.18797007203102112,
        0.19427889585494995,
        -0.5997606515884399,
        0.2893868684768677,
        0.06462615728378296,
        -0.1802653670310974,
        -0.029702570289373398,
        -0.0605718269944191,
        -0.1371585726737976
      ],
      "target_rad": [
        -0.06824212521314621,
        0.03043793886899948,
        -0.7471932172775269,
        -0.10411013662815094,
        0.8026931285858154,
        0.1611299216747284,
        0.5433788895606995,
        -0.5997606515884399,
        0.2893868684768677,
        0.06462615728378296,
        -0.09296536445617676,
        0.4281974136829376,
        -0.055671826004981995,
        -0.5901585817337036
      ],
      "elapsed_seconds": 6.665498949587345e-05
    },
    {
      "call": 69,
      "physics_step": 276,
      "sim_time_s": 1.3799999999999926,
      "observation": [
        0.4717113673686981,
        1.3728268146514893,
        -2.3498330116271973,
        0.20991195738315582,
        0.9478014707565308,
        0.24001957476139069,
        -0.0875648558139801,
        0.04924279451370239,
        -0.1356859654188156,
        -0.11965928226709366,
        0.3370314836502075,
        -0.1527572125196457,
        0.25555065274238586,
        -0.5817432403564453,
        0.436674565076828,
        -0.014520295895636082,
        -0.16582995653152466,
        0.06679677963256836,
        -0.14808036386966705,
        -0.13284891843795776,
        1.2438316345214844,
        -1.2239642143249512,
        -1.5414143800735474,
        0.0015955757116898894,
        0.6567118763923645,
        -0.006096275988966227,
        -0.09142205119132996,
        1.0141139030456543,
        -0.0015769414603710175,
        0.4164542257785797,
        0.00484890304505825,
        -0.6716963648796082,
        0.8285015821456909,
        -0.07305540889501572,
        -0.06824212521314621,
        0.11773794144392014,
        -0.28929322957992554,
        -0.09921013563871384,
        0.3496931195259094,
        -0.18797007203102112,
        0.19427889585494995,
        -0.5997606515884399,
        0.2893868684768677,
        0.06462615728378296,
        -0.1802653670310974,
        -0.029702570289373398,
        -0.0605718269944191,
        -0.1371585726737976,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.0929136872291565,
        0.1216861680150032,
        -0.3049570620059967,
        -0.07846883684396744,
        0.3376380205154419,
        -0.17511510848999023,
        0.18460474908351898,
        -0.6794525980949402,
        0.3112885355949402,
        0.08089443296194077,
        -0.16497130692005157,
        -0.05681310221552849,
        -0.06197229027748108,
        -0.15132001042366028
      ],
      "target_rad": [
        -0.0929136872291565,
        0.03438616544008255,
        -0.7628570795059204,
        -0.08336883783340454,
        0.7906380295753479,
        0.17398488521575928,
        0.5337047576904297,
        -0.6794525980949402,
        0.3112885355949402,
        0.08089443296194077,
        -0.07767130434513092,
        0.4010868966579437,
        -0.057072289288043976,
        -0.6043200492858887
      ],
      "elapsed_seconds": 0.00012092001270502806
    },
    {
      "call": 70,
      "physics_step": 280,
      "sim_time_s": 1.3999999999999921,
      "observation": [
        0.49770405888557434,
        1.2589898109436035,
        -2.867677927017212,
        0.15288855135440826,
        0.9597253203392029,
        0.23569557070732117,
        -0.06668858975172043,
        0.023876652121543884,
        -0.1634312868118286,
        -0.11762088537216187,
        0.3453380763530731,
        -0.15050280094146729,
        0.25184857845306396,
        -0.5679179430007935,
        0.4366631805896759,
        -0.004801381379365921,
        -0.16410695016384125,
        0.05226823687553406,
        -0.1329909861087799,
        -0.1342436671257019,
        0.9331644773483276,
        -1.2724645137786865,
        -1.3012446165084839,
        0.14654530584812164,
        0.29406803846359253,
        0.17241449654102325,
        -0.24383890628814697,
        0.5298025012016296,
        -0.0004682994622271508,
        0.5181844234466553,
        0.12020333856344223,
        -0.7497509717941284,
        0.7090353965759277,
        -0.06757618486881256,
        -0.0929136872291565,
        0.1216861680150032,
        -0.3049570620059967,
        -0.07846883684396744,
        0.3376380205154419,
        -0.17511510848999023,
        0.18460474908351898,
        -0.6794525980949402,
        0.3112885355949402,
        0.08089443296194077,
        -0.16497130692005157,
        -0.05681310221552849,
        -0.06197229027748108,
        -0.15132001042366028,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.1227598637342453,
        0.1280823051929474,
        -0.3277031481266022,
        -0.053447045385837555,
        0.3223709166049957,
        -0.1601707637310028,
        0.171695739030838,
        -0.7748261094093323,
        0.341225266456604,
        0.1002856194972992,
        -0.14716720581054688,
        -0.0885312408208847,
        -0.06661931425333023,
        -0.1671781688928604
      ],
      "target_rad": [
        -0.1227598637342453,
        0.04078230261802673,
        -0.7856031656265259,
        -0.05834704637527466,
        0.7753709554672241,
        0.1889292299747467,
        0.5207957029342651,
        -0.7748261094093323,
        0.341225266456604,
        0.1002856194972992,
        -0.05986720323562622,
        0.3693687319755554,
        -0.06171931326389313,
        -0.6201781630516052
      ],
      "elapsed_seconds": 5.26139629073441e-05
    },
    {
      "call": 71,
      "physics_step": 284,
      "sim_time_s": 1.4199999999999917,
      "observation": [
        0.6133466362953186,
        1.123354196548462,
        -3.3956780433654785,
        0.08607609570026398,
        0.969961404800415,
        0.22752082347869873,
        -0.052446506917476654,
        -0.0019185359124094248,
        -0.18753404915332794,
        -0.11365668475627899,
        0.34816256165504456,
        -0.14505289494991302,
        0.2440609186887741,
        -0.5646460652351379,
        0.43664711713790894,
        0.007268982008099556,
        -0.16027577221393585,
        0.035262562334537506,
        -0.12062506377696991,
        -0.13641969859600067,
        0.5955280661582947,
        -1.2884836196899414,
        -1.1425044536590576,
        0.21587812900543213,
        0.06696740537881851,
        0.3179924488067627,
        -0.4694283604621887,
        0.0032444039825350046,
        -0.0014562862925231457,
        0.640448808670044,
        0.22610510885715485,
        -0.8925881385803223,
        0.5669361352920532,
        -0.12843634188175201,
        -0.1227598637342453,
        0.1280823051929474,
        -0.3277031481266022,
        -0.053447045385837555,
        0.3223709166049957,
        -0.1601707637310028,
        0.171695739030838,
        -0.7748261094093323,
        0.341225266456604,
        0.1002856194972992,
        -0.14716720581054688,
        -0.0885312408208847,
        -0.06661931425333023,
        -0.1671781688928604,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.14806659519672394,
        0.13108614087104797,
        -0.3480086326599121,
        -0.02918814867734909,
        0.29947564005851746,
        -0.14433085918426514,
        0.15560154616832733,
        -0.8753663897514343,
        0.3770630359649658,
        0.1188623458147049,
        -0.12886160612106323,
        -0.12320935726165771,
        -0.06978877633810043,
        -0.17342518270015717
      ],
      "target_rad": [
        -0.14806659519672394,
        0.04378613829612732,
        -0.8059086203575134,
        -0.034088149666786194,
        0.7524756193161011,
        0.20476913452148438,
        0.504701554775238,
        -0.8753663897514343,
        0.3770630359649658,
        0.1188623458147049,
        -0.04156160354614258,
        0.3346906304359436,
        -0.06488877534866333,
        -0.6264252066612244
      ],
      "elapsed_seconds": 7.864600047469139e-05
    },
    {
      "call": 72,
      "physics_step": 288,
      "sim_time_s": 1.4399999999999913,
      "observation": [
        0.7786111235618591,
        0.9765548706054688,
        -3.9407172203063965,
        0.009085511788725853,
        0.9766620993614197,
        0.21458926796913147,
        -0.04437486454844475,
        -0.028284894302487373,
        -0.20900209248065948,
        -0.10876330733299255,
        0.34807074069976807,
        -0.13728967308998108,
        0.2316332310438156,
        -0.5717005133628845,
        0.4366365075111389,
        0.021770766004920006,
        -0.15422992408275604,
        0.014895069412887096,
        -0.11100618541240692,
        -0.13971921801567078,
        0.3068638741970062,
        -1.323078989982605,
        -1.0265406370162964,
        0.2475404590368271,
        -0.034684717655181885,
        0.41441798210144043,
        -0.697486400604248,
        -0.5158144235610962,
        -0.0005482934066094458,
        0.7611363530158997,
        0.33694007992744446,
        -1.0730037689208984,
        0.4346545338630676,
        -0.18171805143356323,
        -0.14806659519672394,
        0.13108614087104797,
        -0.3480086326599121,
        -0.02918814867734909,
        0.29947564005851746,
        -0.14433085918426514,
        0.15560154616832733,
        -0.8753663897514343,
        0.3770630359649658,
        0.1188623458147049,
        -0.12886160612106323,
        -0.12320935726165771,
        -0.06978877633810043,
        -0.17342518270015717,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.1604318618774414,
        0.13623008131980896,
        -0.363126665353775,
        -0.0045310864225029945,
        0.27112871408462524,
        -0.13261404633522034,
        0.13244639337062836,
        -0.97544264793396,
        0.41804444789886475,
        0.13049352169036865,
        -0.11505541205406189,
        -0.1609552800655365,
        -0.07773754000663757,
        -0.1726917326450348
      ],
      "target_rad": [
        -0.1604318618774414,
        0.048930078744888306,
        -0.8210266828536987,
        -0.009431086480617523,
        0.7241287231445312,
        0.21648594737052917,
        0.48154640197753906,
        -0.97544264793396,
        0.41804444789886475,
        0.13049352169036865,
        -0.027755409479141235,
        0.2969447076320648,
        -0.07283753901720047,
        -0.6256917715072632
      ],
      "elapsed_seconds": 9.768700692802668e-05
    },
    {
      "call": 73,
      "physics_step": 292,
      "sim_time_s": 1.4599999999999909,
      "observation": [
        0.9869366884231567,
        0.7983540892601013,
        -4.517364978790283,
        -0.0782683864235878,
        0.9774014353752136,
        0.19636820256710052,
        -0.04078590124845505,
        -0.05513768643140793,
        -0.22820693254470825,
        -0.10401546210050583,
        0.3459649085998535,
        -0.12870462238788605,
        0.2148842066526413,
        -0.5890961289405823,
        0.43665510416030884,
        0.03819340467453003,
        -0.14631909132003784,
        -0.009471818804740906,
        -0.10403311252593994,
        -0.14358392357826233,
        0.11886640638113022,
        -1.3400609493255615,
        -0.9184626340866089,
        0.21781690418720245,
        -0.13134847581386566,
        0.42457765340805054,
        -0.9027570486068726,
        -1.0209535360336304,
        0.000904529937542975,
        0.8446835875511169,
        0.417153000831604,
        -1.2820366621017456,
        0.30440187454223633,
        -0.19716614484786987,
        -0.1604318618774414,
        0.13623008131980896,
        -0.363126665353775,
        -0.0045310864225029945,
        0.27112871408462524,
        -0.13261404633522034,
        0.13244639337062836,
        -0.97544264793396,
        0.41804444789886475,
        0.13049352169036865,
        -0.11505541205406189,
        -0.1609552800655365,
        -0.07773754000663757,
        -0.1726917326450348,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.16500058770179749,
        0.14588379859924316,
        -0.3681739866733551,
        0.025549540296196938,
        0.22998173534870148,
        -0.11804468929767609,
        0.09427903592586517,
        -1.0631417036056519,
        0.4620985984802246,
        0.13161857426166534,
        -0.10266238451004028,
        -0.19899994134902954,
        -0.09758260101079941,
        -0.16667240858078003
      ],
      "target_rad": [
        -0.16500058770179749,
        0.05858379602432251,
        -0.8260740041732788,
        0.020649541169404984,
        0.6829817295074463,
        0.23105530440807343,
        0.4433790445327759,
        -1.0631417036056519,
        0.4620985984802246,
        0.13161857426166534,
        -0.015362381935119629,
        0.2589000463485718,
        -0.0926826000213623,
        -0.619672417640686
      ],
      "elapsed_seconds": 5.787401460111141e-05
    },
    {
      "call": 74,
      "physics_step": 296,
      "sim_time_s": 1.4799999999999904,
      "observation": [
        1.2997558116912842,
        0.6706908345222473,
        -4.9903244972229,
        -0.17383085191249847,
        0.9697816371917725,
        0.17119100689888,
        -0.04032588377594948,
        -0.07886945456266403,
        -0.24573467671871185,
        -0.09882037341594696,
        0.34063953161239624,
        -0.12069403380155563,
        0.19398057460784912,
        -0.6169694066047668,
        0.4367802143096924,
        0.05540013685822487,
        -0.13773374259471893,
        -0.038200557231903076,
        -0.10015781223773956,
        -0.14715202152729034,
        -0.0004075008910149336,
        -1.1214193105697632,
        -0.8428255915641785,
        0.26872050762176514,
        -0.32340526580810547,
        0.37424230575561523,
        -1.102236270904541,
        -1.5465493202209473,
        0.006489199120551348,
        0.8571640849113464,
        0.441459983587265,
        -1.496433973312378,
        0.13851530849933624,
        -0.1672149896621704,
        -0.16500058770179749,
        0.14588379859924316,
        -0.3681739866733551,
        0.025549540296196938,
        0.22998173534870148,
        -0.11804468929767609,
        0.09427903592586517,
        -1.0631417036056519,
        0.4620985984802246,
        0.13161857426166534,
        -0.10266238451004028,
        -0.19899994134902954,
        -0.09758260101079941,
        -0.16667240858078003,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.15447987616062164,
        0.15978947281837463,
        -0.3565467298030853,
        0.06988905370235443,
        0.1475764662027359,
        -0.08289097249507904,
        0.033927615731954575,
        -1.0832552909851074,
        0.5166794657707214,
        0.11891141533851624,
        -0.09190939366817474,
        -0.24204063415527344,
        -0.13584715127944946,
        -0.14733323454856873
      ],
      "target_rad": [
        -0.15447987616062164,
        0.07248947024345398,
        -0.8144466876983643,
        0.06498905271291733,
        0.6005764603614807,
        0.2662090063095093,
        0.3830276131629944,
        -1.0832552909851074,
        0.5166794657707214,
        0.11891141533851624,
        -0.004609391093254089,
        0.21585935354232788,
        -0.13094715774059296,
        -0.6003332138061523
      ],
      "elapsed_seconds": 6.651500007137656e-05
    },
    {
      "call": 75,
      "physics_step": 300,
      "sim_time_s": 1.49999999999999,
      "observation": [
        0.8518015742301941,
        0.5489106178283691,
        -5.733275890350342,
        -0.2825263440608978,
        0.9479072093963623,
        0.14714202284812927,
        -0.04148545488715172,
        -0.10681646317243576,
        -0.2608993947505951,
        -0.09052202105522156,
        0.3291743993759155,
        -0.11407949775457382,
        0.16955137252807617,
        -0.6493949294090271,
        0.4369620978832245,
        0.0716404914855957,
        -0.1254170835018158,
        -0.07083466649055481,
        -0.09965008497238159,
        -0.14905332028865814,
        -0.2656765282154083,
        -1.6083905696868896,
        -0.8322391510009766,
        0.6923742294311523,
        -0.7556725144386292,
        0.3081374168395996,
        -1.2419732809066772,
        -1.748875379562378,
        0.012872457504272461,
        0.8171783089637756,
        0.7800175547599792,
        -1.6954262256622314,
        -0.00788064580410719,
        -0.06113419681787491,
        -0.15447987616062164,
        0.15978947281837463,
        -0.3565467298030853,
        0.06988905370235443,
        0.1475764662027359,
        -0.08289097249507904,
        0.033927615731954575,
        -1.0832552909851074,
        0.5166794657707214,
        0.11891141533851624,
        -0.09190939366817474,
        -0.24204063415527344,
        -0.13584715127944946,
        -0.14733323454856873,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.1198086068034172,
        0.20179098844528198,
        -0.37054023146629333,
        0.12349842488765717,
        0.06573477387428284,
        -0.058780159801244736,
        -0.061752237379550934,
        -1.0910475254058838,
        0.5798799395561218,
        0.09188112616539001,
        -0.07100920379161835,
        -0.28760644793510437,
        -0.21903231739997864,
        -0.18463736772537231
      ],
      "target_rad": [
        -0.1198086068034172,
        0.11449098587036133,
        -0.8284401893615723,
        0.11859842389822006,
        0.5187348127365112,
        0.2903198301792145,
        0.2873477637767792,
        -1.0910475254058838,
        0.5798799395561218,
        0.09188112616539001,
        0.016290798783302307,
        0.17029353976249695,
        -0.21413232386112213,
        -0.6376373767852783
      ],
      "elapsed_seconds": 6.341497646644711e-05
    },
    {
      "call": 76,
      "physics_step": 304,
      "sim_time_s": 1.5199999999999896,
      "observation": [
        0.5722197890281677,
        0.626481831073761,
        -6.0811848640441895,
        -0.39446714520454407,
        0.9095323085784912,
        0.13094529509544373,
        -0.04991699010133743,
        -0.13452200591564178,
        -0.28138357400894165,
        -0.06697046756744385,
        0.3034040331840515,
        -0.10880124568939209,
        0.13987241685390472,
        -0.6885566115379333,
        0.43722155690193176,
        0.08588104695081711,
        -0.10749099403619766,
        -0.10788998752832413,
        -0.10539879649877548,
        -0.15161116421222687,
        -0.47636812925338745,
        -1.1725974082946777,
        -1.1215245723724365,
        1.3868601322174072,
        -1.58147132396698,
        0.21176643669605255,
        -1.588123083114624,
        -2.056922197341919,
        0.008290855213999748,
        0.6433398723602295,
        0.9069100022315979,
        -1.912917137145996,
        -0.424294650554657,
        -0.15967527031898499,
        -0.1198086068034172,
        0.20179098844528198,
        -0.37054023146629333,
        0.12349842488765717,
        0.06573477387428284,
        -0.058780159801244736,
        -0.061752237379550934,
        -1.0910475254058838,
        0.5798799395561218,
        0.09188112616539001,
        -0.07100920379161835,
        -0.28760644793510437,
        -0.21903231739997864,
        -0.18463736772537231,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.012642398476600647,
        0.20506010949611664,
        -0.2687661349773407,
        0.12653692066669464,
        -0.05048274248838425,
        0.01603354513645172,
        -0.2734226882457733,
        -0.876503586769104,
        0.6834182143211365,
        0.09636411815881729,
        -0.006776249036192894,
        -0.22749564051628113,
        -0.20585207641124725,
        -0.1706380844116211
      ],
      "target_rad": [
        -0.012642398476600647,
        0.11776010692119598,
        -0.7266660928726196,
        0.12163691967725754,
        0.40251725912094116,
        0.36513352394104004,
        0.0756773054599762,
        -0.876503586769104,
        0.6834182143211365,
        0.09636411815881729,
        0.08052375167608261,
        0.2304043471813202,
        -0.20095208287239075,
        -0.6236380934715271
      ],
      "elapsed_seconds": 7.228599861264229e-05
    },
    {
      "call": 77,
      "physics_step": 308,
      "sim_time_s": 1.5399999999999892,
      "observation": [
        0.47343215346336365,
        0.9116950035095215,
        -7.260820388793945,
        -0.5166800022125244,
        0.8484397530555725,
        0.11485516279935837,
        -0.053902462124824524,
        -0.14879128336906433,
        -0.30115950107574463,
        -0.034972406923770905,
        0.2579611837863922,
        -0.1055637001991272,
        0.09680695086717606,
        -0.720288872718811,
        0.43740707635879517,
        0.09607451409101486,
        -0.08760003000497818,
        -0.14229798316955566,
        -0.11614479869604111,
        -0.1545720100402832,
        -0.05928768590092659,
        -0.44816479086875916,
        -0.9232406616210938,
        1.6839652061462402,
        -2.6030561923980713,
        0.11795260012149811,
        -2.4073634147644043,
        -1.3191066980361938,
        0.009252293966710567,
        0.43716466426849365,
        1.0122427940368652,
        -1.6078808307647705,
        -0.584160566329956,
        -0.1407499462366104,
        -0.012642398476600647,
        0.20506010949611664,
        -0.2687661349773407,
        0.12653692066669464,
        -0.05048274248838425,
        0.01603354513645172,
        -0.2734226882457733,
        -0.876503586769104,
        0.6834182143211365,
        0.09636411815881729,
        -0.006776249036192894,
        -0.22749564051628113,
        -0.20585207641124725,
        -0.1706380844116211,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.06970332562923431,
        0.22779148817062378,
        -0.12292665243148804,
        0.1456030011177063,
        -0.16010744869709015,
        0.13255007565021515,
        -0.466547429561615,
        -0.7109848856925964,
        0.8263437151908875,
        -0.002279277890920639,
        0.04508121311664581,
        -0.09048876166343689,
        -0.15403184294700623,
        -0.10960902273654938
      ],
      "target_rad": [
        0.06970332562923431,
        0.14049148559570312,
        -0.5808266401290894,
        0.1407030075788498,
        0.29289257526397705,
        0.48165005445480347,
        -0.11744743585586548,
        -0.7109848856925964,
        0.8263437151908875,
        -0.002279277890920639,
        0.13238121569156647,
        0.36741122603416443,
        -0.14913184940814972,
        -0.5626090168952942
      ],
      "elapsed_seconds": 7.63860298320651e-05
    },
    {
      "call": 78,
      "physics_step": 312,
      "sim_time_s": 1.5599999999999887,
      "observation": [
        0.3987085223197937,
        1.270027756690979,
        -9.133259773254395,
        -0.6543216109275818,
        0.7502947449684143,
        0.09445133805274963,
        -0.04684527963399887,
        -0.14873303472995758,
        -0.3120065927505493,
        0.0019180179806426167,
        0.19309382140636444,
        -0.10196832567453384,
        0.03651956468820572,
        -0.7308303117752075,
        0.4377533197402954,
        0.0974745973944664,
        -0.06547379493713379,
        -0.16306695342063904,
        -0.12516139447689056,
        -0.15459004044532776,
        0.567916750907898,
        0.250825971364975,
        -0.36284154653549194,
        1.91001296043396,
        -3.5228147506713867,
        0.19559766352176666,
        -3.270758867263794,
        -0.14201468229293823,
        0.017474519088864326,
        -0.10609132051467896,
        1.1295050382614136,
        -0.7412541508674622,
        -0.37631916999816895,
        0.06659390777349472,
        0.06970332562923431,
        0.22779148817062378,
        -0.12292665243148804,
        0.1456030011177063,
        -0.16010744869709015,
        0.13255007565021515,
        -0.466547429561615,
        -0.7109848856925964,
        0.8263437151908875,
        -0.002279277890920639,
        0.04508121311664581,
        -0.09048876166343689,
        -0.15403184294700623,
        -0.10960902273654938,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.11225225031375885,
        0.24152258038520813,
        0.09778803586959839,
        0.1398114114999771,
        -0.24807322025299072,
        0.27226924896240234,
        -0.6535159349441528,
        -0.6139042973518372,
        1.0103399753570557,
        -0.19855867326259613,
        0.12178739905357361,
        0.13016653060913086,
        -0.09936892986297607,
        -0.009519431740045547
      ],
      "target_rad": [
        0.11225225031375885,
        0.15422257781028748,
        -0.36011195182800293,
        0.1349114179611206,
        0.20492678880691528,
        0.6213692426681519,
        -0.3044159412384033,
        -0.6139042973518372,
        1.0103399753570557,
        -0.19855867326259613,
        0.20908740162849426,
        0.5880665183067322,
        -0.09446892887353897,
        -0.46251943707466125
      ],
      "elapsed_seconds": 5.3633993957191706e-05
    },
    {
      "call": 79,
      "physics_step": 316,
      "sim_time_s": 1.5799999999999883,
      "observation": [
        -0.3338569402694702,
        0.524484395980835,
        -10.232394218444824,
        -0.7949426770210266,
        0.6026327610015869,
        0.06999921053647995,
        -0.029378052800893784,
        -0.12885084748268127,
        -0.3020194172859192,
        0.04025885462760925,
        0.11465393751859665,
        -0.09315995126962662,
        -0.04008209705352783,
        -0.7221997380256653,
        0.438329815864563,
        0.08285223692655563,
        -0.03838007152080536,
        -0.16238339245319366,
        -0.12593810260295868,
        -0.14635983109474182,
        0.8483490347862244,
        1.7604291439056396,
        1.3094052076339722,
        1.7787997722625732,
        -4.030460834503174,
        0.42826277017593384,
        -3.9106717109680176,
        0.5322054624557495,
        0.027822544798254967,
        -0.660487949848175,
        1.7129334211349487,
        0.026726333424448967,
        0.32686033844947815,
        0.5353074073791504,
        0.11225225031375885,
        0.24152258038520813,
        0.09778803586959839,
        0.1398114114999771,
        -0.24807322025299072,
        0.27226924896240234,
        -0.6535159349441528,
        -0.6139042973518372,
        1.0103399753570557,
        -0.19855867326259613,
        0.12178739905357361,
        0.13016653060913086,
        -0.09936892986297607,
        -0.009519431740045547,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.10471499711275101,
        0.26445654034614563,
        0.5355752110481262,
        0.16752950847148895,
        -0.23523636162281036,
        0.48156049847602844,
        -0.753726601600647,
        -0.6732248067855835,
        1.3228328227996826,
        -0.7229434251785278,
        0.29403772950172424,
        0.5643983483314514,
        -0.15661627054214478,
        0.16264840960502625
      ],
      "target_rad": [
        0.10471499711275101,
        0.17715653777122498,
        0.0776752233505249,
        0.16262951493263245,
        0.21776364743709564,
        0.8306604623794556,
        -0.40462660789489746,
        -0.6732248067855835,
        1.3228328227996826,
        -0.7229434251785278,
        0.3813377320766449,
        1.0222983360290527,
        -0.15171627700328827,
        -0.29035159945487976
      ],
      "elapsed_seconds": 5.6743971072137356e-05
    },
    {
      "call": 80,
      "physics_step": 320,
      "sim_time_s": 1.5999999999999879,
      "observation": [
        -1.1590198278427124,
        -0.3276366591453552,
        -10.489267349243164,
        -0.9002751111984253,
        0.4268028736114502,
        0.08569727092981339,
        -0.01476964633911848,
        -0.07178910821676254,
        -0.2308121621608734,
        0.07197166979312897,
        0.0380125418305397,
        -0.06747341901063919,
        -0.12608040869235992,
        -0.7126545310020447,
        0.43939098715782166,
        0.040529850870370865,
        0.009876231662929058,
        -0.13806767761707306,
        -0.11467550694942474,
        -0.12333151698112488,
        0.7305662631988525,
        3.18243408203125,
        4.535316467285156,
        1.487856149673462,
        -3.6869001388549805,
        1.5492377281188965,
        -4.429443359375,
        0.4426781237125397,
        0.05378512665629387,
        -3.007385015487671,
        2.611262798309326,
        2.0004584789276123,
        0.5586145520210266,
        1.4671757221221924,
        0.10471499711275101,
        0.26445654034614563,
        0.5355752110481262,
        0.16752950847148895,
        -0.23523636162281036,
        0.48156049847602844,
        -0.753726601600647,
        -0.6732248067855835,
        1.3228328227996826,
        -0.7229434251785278,
        0.29403772950172424,
        0.5643983483314514,
        -0.15661627054214478,
        0.16264840960502625,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.11720272898674011,
        0.444650262594223,
        0.9841453433036804,
        0.19837836921215057,
        -0.05464458465576172,
        0.7026978731155396,
        -0.5806258320808411,
        -1.3410286903381348,
        1.6191459894180298,
        -1.4700983762741089,
        0.5007530450820923,
        1.2055776119232178,
        -0.29167112708091736,
        0.2575017809867859
      ],
      "target_rad": [
        -0.11720272898674011,
        0.35735026001930237,
        0.5262453556060791,
        0.19347837567329407,
        0.3983554244041443,
        1.051797866821289,
        -0.23152583837509155,
        -1.3410286903381348,
        1.6191459894180298,
        -1.4700983762741089,
        0.5880530476570129,
        1.6634776592254639,
        -0.28677111864089966,
        -0.19549822807312012
      ],
      "elapsed_seconds": 5.88939874432981e-05
    },
    {
      "call": 81,
      "physics_step": 324,
      "sim_time_s": 1.6199999999999875,
      "observation": [
        0.27347585558891296,
        0.3973425626754761,
        -11.070828437805176,
        -0.971527099609375,
        0.22072958946228027,
        0.0861019417643547,
        -0.010547266341745853,
        -0.00023814903397578746,
        -0.09926509112119675,
        0.10059036314487457,
        -0.019233718514442444,
        -0.02758597768843174,
        -0.19736240804195404,
        -0.7299421429634094,
        0.440945565700531,
        -0.08109758794307709,
        0.0735318511724472,
        -0.04636694863438606,
        -0.11065738648176193,
        -0.08258802443742752,
        -0.03232505917549133,
        3.656759262084961,
        7.543381214141846,
        1.355004906654358,
        -2.4055747985839844,
        2.2058026790618896,
        -3.075737714767456,
        -1.4508401155471802,
        0.0780409500002861,
        -7.591691493988037,
        3.408212900161743,
        5.889505386352539,
        0.0008845892734825611,
        2.303556203842163,
        -0.11720272898674011,
        0.444650262594223,
        0.9841453433036804,
        0.19837836921215057,
        -0.05464458465576172,
        0.7026978731155396,
        -0.5806258320808411,
        -1.3410286903381348,
        1.6191459894180298,
        -1.4700983762741089,
        0.5007530450820923,
        1.2055776119232178,
        -0.29167112708091736,
        0.2575017809867859,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.3772273063659668,
        0.43769562244415283,
        1.2331109046936035,
        0.1846717745065689,
        0.03044564463198185,
        1.0321803092956543,
        -0.493278831243515,
        -2.1566340923309326,
        1.7681151628494263,
        -2.002711296081543,
        0.8221392035484314,
        1.625087022781372,
        -0.08522095531225204,
        0.2519419491291046
      ],
      "target_rad": [
        -0.3772273063659668,
        0.3503956198692322,
        0.7752109169960022,
        0.1797717809677124,
        0.4834456443786621,
        1.3812803030014038,
        -0.1441788375377655,
        -2.1566340923309326,
        1.7681151628494263,
        -2.002711296081543,
        0.909439206123352,
        2.082987070083618,
        -0.08032095432281494,
        -0.2010580599308014
      ],
      "elapsed_seconds": 5.53840072825551e-05
    },
    {
      "call": 82,
      "physics_step": 328,
      "sim_time_s": 1.639999999999987,
      "observation": [
        0.2806189954280853,
        2.679325819015503,
        -11.48794174194336,
        -0.9988594651222229,
        -0.004075600765645504,
        0.04757291078567505,
        -0.028344839811325073,
        0.073302261531353,
        0.07686804234981537,
        0.12681728601455688,
        -0.05053579434752464,
        0.05656706541776657,
        -0.25410982966423035,
        -0.8232238292694092,
        0.4422239065170288,
        -0.2894477844238281,
        0.1619386225938797,
        0.12819437682628632,
        -0.10719174146652222,
        -0.03176918253302574,
        -1.3290817737579346,
        3.619701385498047,
        9.381975173950195,
        1.2361044883728027,
        -1.1159052848815918,
        5.173375129699707,
        -2.6952567100524902,
        -6.279020309448242,
        0.05323675274848938,
        -11.85130786895752,
        4.859330177307129,
        10.08264446258545,
        0.2363438606262207,
        2.630727767944336,
        -0.3772273063659668,
        0.43769562244415283,
        1.2331109046936035,
        0.1846717745065689,
        0.03044564463198185,
        1.0321803092956543,
        -0.493278831243515,
        -2.1566340923309326,
        1.7681151628494263,
        -2.002711296081543,
        0.8221392035484314,
        1.625087022781372,
        -0.08522095531225204,
        0.2519419491291046,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.42781302332878113,
        0.3598412573337555,
        1.1550192832946777,
        0.09088974446058273,
        0.041476525366306305,
        0.9820610284805298,
        -0.4403415620326996,
        -2.839167833328247,
        1.8086804151535034,
        -2.2094662189483643,
        0.9664275050163269,
        1.6989747285842896,
        0.13168543577194214,
        0.2235296666622162
      ],
      "target_rad": [
        -0.42781302332878113,
        0.27254125475883484,
        0.6971192955970764,
        0.08598974347114563,
        0.4944765269756317,
        1.3311610221862793,
        -0.09124156832695007,
        -2.839167833328247,
        1.8086804151535034,
        -2.2094662189483643,
        1.0537275075912476,
        2.156874656677246,
        0.13658542931079865,
        -0.22947034239768982
      ],
      "elapsed_seconds": 5.3194002248346806e-05
    },
    {
      "call": 83,
      "physics_step": 332,
      "sim_time_s": 1.6599999999999866,
      "observation": [
        0.850658118724823,
        2.5890064239501953,
        -12.084925651550293,
        -0.9731162786483765,
        -0.22994430363178253,
        -0.013051187619566917,
        -0.06964690238237381,
        0.13727682828903198,
        0.27092647552490234,
        0.1409420371055603,
        -0.06050586327910423,
        0.17492425441741943,
        -0.29940858483314514,
        -1.0078216791152954,
        0.4430701732635498,
        -0.5596602559089661,
        0.27243518829345703,
        0.35768571496009827,
        -0.08897675573825836,
        0.01933063380420208,
        -2.6745495796203613,
        2.9039719104766846,
        10.059784889221191,
        0.2902218699455261,
        -0.1661994308233261,
        5.9931135177612305,
        -1.9082317352294922,
        -10.616355895996094,
        0.03712177276611328,
        -14.302959442138672,
        5.826531410217285,
        11.835848808288574,
        1.3051387071609497,
        2.467130661010742,
        -0.42781302332878113,
        0.3598412573337555,
        1.1550192832946777,
        0.09088974446058273,
        0.041476525366306305,
        0.9820610284805298,
        -0.4403415620326996,
        -2.839167833328247,
        1.8086804151535034,
        -2.2094662189483643,
        0.9664275050163269,
        1.6989747285842896,
        0.13168543577194214,
        0.2235296666622162,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.5285912752151489,
        0.04689246788620949,
        1.0878194570541382,
        0.04114937782287598,
        -0.19815155863761902,
        1.0688399076461792,
        -0.22583404183387756,
        -3.4077563285827637,
        1.9170036315917969,
        -2.7052438259124756,
        1.3670862913131714,
        1.6620815992355347,
        0.43604686856269836,
        0.4398423135280609
      ],
      "target_rad": [
        -0.5285912752151489,
        -0.040407534688711166,
        0.6299194693565369,
        0.03624937683343887,
        0.254848450422287,
        1.4179399013519287,
        0.12326595187187195,
        -3.4077563285827637,
        1.9170036315917969,
        -2.7052438259124756,
        1.4543862342834473,
        2.119981527328491,
        0.44094687700271606,
        -0.013157695531845093
      ],
      "elapsed_seconds": 5.76950260438025e-05
    },
    {
      "call": 84,
      "physics_step": 336,
      "sim_time_s": 1.6799999999999862,
      "observation": [
        3.8642735481262207,
        -0.4846530258655548,
        -11.433116912841797,
        -0.893900990486145,
        -0.4482482969760895,
        -0.0038021402433514595,
        -0.12628892064094543,
        0.16426554322242737,
        0.4324377477169037,
        0.15504007041454315,
        -0.07979820668697357,
        0.2916654646396637,
        -0.314028799533844,
        -1.2550511360168457,
        0.4438144564628601,
        -0.6191844344139099,
        0.3353360891342163,
        0.5840317606925964,
        -0.031262461096048355,
        0.07586546242237091,
        -2.835012674331665,
        0.547305166721344,
        6.3549418449401855,
        1.2685394287109375,
        -1.5063951015472412,
        5.6612091064453125,
        -0.15714971721172333,
        -13.210771560668945,
        0.03465220704674721,
        0.3649037480354309,
        0.6546881794929504,
        10.964250564575195,
        3.6088521480560303,
        2.9791643619537354,
        -0.5285912752151489,
        0.04689246788620949,
        1.0878194570541382,
        0.04114937782287598,
        -0.19815155863761902,
        1.0688399076461792,
        -0.22583404183387756,
        -3.4077563285827637,
        1.9170036315917969,
        -2.7052438259124756,
        1.3670862913131714,
        1.6620815992355347,
        0.43604686856269836,
        0.4398423135280609,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.6462876200675964,
        -0.12740756571292877,
        1.2787457704544067,
        0.2251785844564438,
        -0.27210137248039246,
        1.3995530605316162,
        -0.03987820819020271,
        -3.8823654651641846,
        2.2877984046936035,
        -3.803351640701294,
        1.738456130027771,
        1.6034773588180542,
        0.561737060546875,
        0.6818403601646423
      ],
      "target_rad": [
        -0.6462876200675964,
        -0.21470756828784943,
        0.8208457827568054,
        0.22027859091758728,
        0.18089863657951355,
        1.7486530542373657,
        0.3092217743396759,
        -3.8823654651641846,
        2.2877984046936035,
        -3.803351640701294,
        1.8257560729980469,
        2.0613772869110107,
        0.5666370391845703,
        0.22884035110473633
      ],
      "elapsed_seconds": 0.00011123897274956107
    },
    {
      "call": 85,
      "physics_step": 340,
      "sim_time_s": 1.6999999999999857,
      "observation": [
        0.5451014041900635,
        4.373798847198486,
        -2.9087722301483154,
        -0.8293951153755188,
        -0.5577434301376343,
        -0.03203164041042328,
        -0.18418096005916595,
        0.1601882129907608,
        0.5435039401054382,
        0.19231688976287842,
        -0.11837846040725708,
        0.3565104305744171,
        -0.2579096555709839,
        -1.4823940992355347,
        0.44562265276908875,
        -0.5893956422805786,
        0.32830679416656494,
        0.7942891716957092,
        0.052423153072595596,
        0.15311583876609802,
        -2.9584200382232666,
        -0.5504658222198486,
        5.713564395904541,
        1.773991584777832,
        -1.923496127128601,
        3.052967071533203,
        3.6286048889160156,
        -10.795574188232422,
        0.06765548139810562,
        1.6243985891342163,
        -0.5783185958862305,
        10.247051239013672,
        4.373528003692627,
        4.260803699493408,
        -0.6462876200675964,
        -0.12740756571292877,
        1.2787457704544067,
        0.2251785844564438,
        -0.27210137248039246,
        1.3995530605316162,
        -0.03987820819020271,
        -3.8823654651641846,
        2.2877984046936035,
        -3.803351640701294,
        1.738456130027771,
        1.6034773588180542,
        0.561737060546875,
        0.6818403601646423,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.1371970772743225,
        0.16629627346992493,
        0.9874878525733948,
        0.09547078609466553,
        -0.40642309188842773,
        0.6957924365997314,
        -0.23543135821819305,
        -3.3236708641052246,
        1.5784543752670288,
        -2.5866143703460693,
        1.0332752466201782,
        1.2016236782073975,
        0.4172378480434418,
        0.24624013900756836
      ],
      "target_rad": [
        -0.1371970772743225,
        0.07899627089500427,
        0.5295878648757935,
        0.09057078510522842,
        0.04657691717147827,
        1.044892430305481,
        0.11366863548755646,
        -3.3236708641052246,
        1.5784543752670288,
        -2.5866143703460693,
        1.120575189590454,
        1.6595237255096436,
        0.4221378564834595,
        -0.20675987005233765
      ],
      "elapsed_seconds": 5.662499461323023e-05
    },
    {
      "call": 86,
      "physics_step": 344,
      "sim_time_s": 1.7199999999999853,
      "observation": [
        1.0932470560073853,
        3.765611410140991,
        -0.5333619713783264,
        -0.8094546794891357,
        -0.5810132026672363,
        -0.08489282429218292,
        -0.20838654041290283,
        0.16303999722003937,
        0.6165683269500732,
        0.23068875074386597,
        -0.1716015636920929,
        0.3937961757183075,
        -0.19439616799354553,
        -1.711982250213623,
        0.4450741410255432,
        -0.5635767579078674,
        0.31659772992134094,
        0.9608898758888245,
        0.13329991698265076,
        0.21861077845096588,
        -0.565335750579834,
        0.26824507117271423,
        3.1604959964752197,
        1.6156160831451416,
        -2.8073313236236572,
        1.6371396780014038,
        2.69738507270813,
        -12.139333724975586,
        -0.056296028196811676,
        1.0620825290679932,
        -0.5244759321212769,
        7.335844039916992,
        3.8105576038360596,
        2.7399463653564453,
        -0.1371970772743225,
        0.16629627346992493,
        0.9874878525733948,
        0.09547078609466553,
        -0.40642309188842773,
        0.6957924365997314,
        -0.23543135821819305,
        -3.3236708641052246,
        1.5784543752670288,
        -2.5866143703460693,
        1.0332752466201782,
        1.2016236782073975,
        0.4172378480434418,
        0.24624013900756836,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.25773248076438904,
        0.1526690423488617,
        1.0734660625457764,
        0.1012326031923294,
        -0.4537716805934906,
        0.8182940483093262,
        -0.35653916001319885,
        -3.1434459686279297,
        1.5952351093292236,
        -2.799558162689209,
        1.1989461183547974,
        1.3276392221450806,
        0.4956372082233429,
        0.35444357991218567
      ],
      "target_rad": [
        -0.25773248076438904,
        0.06536903977394104,
        0.615566074848175,
        0.0963326022028923,
        -0.0007716715335845947,
        1.1673940420150757,
        -0.007439166307449341,
        -3.1434459686279297,
        1.5952351093292236,
        -2.799558162689209,
        1.2862460613250732,
        1.785539150238037,
        0.5005372166633606,
        -0.09855642914772034
      ],
      "elapsed_seconds": 6.487499922513962e-05
    },
    {
      "call": 87,
      "physics_step": 348,
      "sim_time_s": 1.739999999999985,
      "observation": [
        1.2961537837982178,
        4.112008094787598,
        0.03381972014904022,
        -0.7994074821472168,
        -0.585355818271637,
        -0.13530056178569794,
        -0.21786724030971527,
        0.1650601625442505,
        0.6846699714660645,
        0.24629144370555878,
        -0.22726590931415558,
        0.43425244092941284,
        -0.16322390735149384,
        -1.9635217189788818,
        0.4440169930458069,
        -0.5488154292106628,
        0.30922630429267883,
        1.0879276990890503,
        0.2058262974023819,
        0.2650514841079712,
        -0.4392443597316742,
        0.02880648896098137,
        3.5020790100097656,
        0.3381063938140869,
        -2.7307493686676025,
        2.215385913848877,
        0.9614591002464294,
        -12.672710418701172,
        -0.04513129964470863,
        0.5721988677978516,
        -0.2872192859649658,
        5.771855354309082,
        3.49238657951355,
        2.0802650451660156,
        -0.25773248076438904,
        0.1526690423488617,
        1.0734660625457764,
        0.1012326031923294,
        -0.4537716805934906,
        0.8182940483093262,
        -0.35653916001319885,
        -3.1434459686279297,
        1.5952351093292236,
        -2.799558162689209,
        1.1989461183547974,
        1.3276392221450806,
        0.4956372082233429,
        0.35444357991218567,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.31855887174606323,
        0.029888294637203217,
        1.0019888877868652,
        0.07652919739484787,
        -0.5308818817138672,
        0.9021919965744019,
        -0.25233879685401917,
        -3.484832286834717,
        1.543321132659912,
        -3.09198260307312,
        1.375272274017334,
        1.3930801153182983,
        0.6063828468322754,
        0.4632629454135895
      ],
      "target_rad": [
        -0.31855887174606323,
        -0.05741170793771744,
        0.5440889000892639,
        0.07162919640541077,
        -0.07788187265396118,
        1.2512919902801514,
        0.09676119685173035,
        -3.484832286834717,
        1.543321132659912,
        -3.09198260307312,
        1.4625723361968994,
        1.8509800434112549,
        0.6112828254699707,
        0.010262936353683472
      ],
      "elapsed_seconds": 7.447600364685059e-05
    },
    {
      "call": 88,
      "physics_step": 352,
      "sim_time_s": 1.7599999999999845,
      "observation": [
        2.4615237712860107,
        2.7553153038024902,
        -0.769619882106781,
        -0.780301034450531,
        -0.6059728264808655,
        -0.15468420088291168,
        -0.2243892252445221,
        0.1627744734287262,
        0.7359486222267151,
        0.2512659430503845,
        -0.28792276978492737,
        0.47859737277030945,
        -0.14909452199935913,
        -2.2240285873413086,
        0.4433309733867645,
        -0.5412457585334778,
        0.3057626485824585,
        1.1388983726501465,
        0.2752145826816559,
        0.30599117279052734,
        -0.43954676389694214,
        -0.3437246084213257,
        2.622641086578369,
        -0.1566949039697647,
        -2.9611120223999023,
        2.4406936168670654,
        0.4574449360370636,
        -13.185239791870117,
        -0.029820768162608147,
        0.2888623774051666,
        -0.126482293009758,
        0.5596508383750916,
        3.362894058227539,
        2.013381004333496,
        -0.31855887174606323,
        0.029888294637203217,
        1.0019888877868652,
        0.07652919739484787,
        -0.5308818817138672,
        0.9021919965744019,
        -0.25233879685401917,
        -3.484832286834717,
        1.543321132659912,
        -3.09198260307312,
        1.375272274017334,
        1.3930801153182983,
        0.6063828468322754,
        0.4632629454135895,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.4492533802986145,
        -0.10178117454051971,
        1.0915935039520264,
        0.049048617482185364,
        -0.5672120451927185,
        1.0937788486480713,
        -0.11450711637735367,
        -3.866685390472412,
        1.5557223558425903,
        -3.427952527999878,
        1.62004816532135,
        1.541281819343567,
        0.6692249178886414,
        0.5892322659492493
      ],
      "target_rad": [
        -0.4492533802986145,
        -0.18908117711544037,
        0.633693516254425,
        0.04414861649274826,
        -0.1142120361328125,
        1.4428788423538208,
        0.23459288477897644,
        -3.866685390472412,
        1.5557223558425903,
        -3.427952527999878,
        1.707348108291626,
        1.9991817474365234,
        0.6741248965263367,
        0.13623225688934326
      ],
      "elapsed_seconds": 5.5393960792571306e-05
    },
    {
      "call": 89,
      "physics_step": 356,
      "sim_time_s": 1.779999999999984,
      "observation": [
        3.767756223678589,
        2.0566470623016357,
        -2.0460267066955566,
        -0.7557247281074524,
        -0.6367966532707214,
        -0.15287303924560547,
        -0.2386845499277115,
        0.14609599113464355,
        0.7823235988616943,
        0.24448929727077484,
        -0.34845444560050964,
        0.5392270088195801,
        -0.13746410608291626,
        -2.4994583129882812,
        0.4429718852043152,
        -0.537407636642456,
        0.3045482933521271,
        1.1336768865585327,
        0.34488916397094727,
        0.3503316044807434,
        -0.7956719994544983,
        -1.0325253009796143,
        1.9626102447509766,
        -0.30778297781944275,
        -3.0747733116149902,
        3.2474615573883057,
        0.6512629985809326,
        -13.863365173339844,
        -0.01279642153531313,
        0.1462642252445221,
        -0.037287209182977676,
        -0.45065420866012573,
        3.5425572395324707,
        2.279372215270996,
        -0.4492533802986145,
        -0.10178117454051971,
        1.0915935039520264,
        0.049048617482185364,
        -0.5672120451927185,
        1.0937788486480713,
        -0.11450711637735367,
        -3.866685390472412,
        1.5557223558425903,
        -3.427952527999878,
        1.62004816532135,
        1.541281819343567,
        0.6692249178886414,
        0.5892322659492493,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.5448099374771118,
        -0.25791674852371216,
        1.0881165266036987,
        0.01766609586775303,
        -0.6309443712234497,
        1.2052319049835205,
        0.07147230952978134,
        -4.275783061981201,
        1.5471075773239136,
        -3.697634696960449,
        1.8004385232925415,
        1.6003892421722412,
        0.7176703810691833,
        0.7311834692955017
      ],
      "target_rad": [
        -0.5448099374771118,
        -0.3452167510986328,
        0.6302165389060974,
        0.0127660958096385,
        -0.1779443621635437,
        1.55433189868927,
        0.42057231068611145,
        -4.275783061981201,
        1.5471075773239136,
        -3.697634696960449,
        1.8877384662628174,
        2.0582892894744873,
        0.7225703597068787,
        0.2781834602355957
      ],
      "elapsed_seconds": 6.475497502833605e-05
    },
    {
      "call": 90,
      "physics_step": 360,
      "sim_time_s": 1.7999999999999836,
      "observation": [
        3.562664747238159,
        4.105747222900391,
        -1.7772388458251953,
        -0.7203159332275391,
        -0.6792636513710022,
        -0.14052002131938934,
        -0.2596414387226105,
        0.11350215971469879,
        0.812362790107727,
        0.2376052290201187,
        -0.4119022786617279,
        0.6108250617980957,
        -0.11068221181631088,
        -2.7857398986816406,
        0.44296711683273315,
        -0.5353947281837463,
        0.30436691641807556,
        1.125680685043335,
        0.4152046740055084,
        0.40426021814346313,
        -1.0219329595565796,
        -1.793664574623108,
        0.9483951926231384,
        -0.1396220326423645,
        -3.265312910079956,
        3.4227888584136963,
        1.8116978406906128,
        -14.148752212524414,
        0.01062826719135046,
        0.08118218183517456,
        -0.003316547255963087,
        -0.3336157202720642,
        3.3630123138427734,
        2.8917200565338135,
        -0.5448099374771118,
        -0.25791674852371216,
        1.0881165266036987,
        0.01766609586775303,
        -0.6309443712234497,
        1.2052319049835205,
        0.07147230952978134,
        -4.275783061981201,
        1.5471075773239136,
        -3.697634696960449,
        1.8004385232925415,
        1.6003892421722412,
        0.7176703810691833,
        0.7311834692955017,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.45950445532798767,
        -0.21886107325553894,
        0.9720954895019531,
        -0.06632344424724579,
        -0.6687043905258179,
        0.9898656606674194,
        0.1032470315694809,
        -4.231298923492432,
        1.2957175970077515,
        -3.3337600231170654,
        1.5449491739273071,
        1.3376778364181519,
        0.6268230080604553,
        0.6693602204322815
      ],
      "target_rad": [
        -0.45950445532798767,
        -0.3061610758304596,
        0.5141955018043518,
        -0.07122344523668289,
        -0.21570438146591187,
        1.338965654373169,
        0.4523470401763916,
        -4.231298923492432,
        1.2957175970077515,
        -3.3337600231170654,
        1.632249116897583,
        1.7955777645111084,
        0.6317229866981506,
        0.2163602113723755
      ],
      "elapsed_seconds": 5.788402631878853e-05
    },
    {
      "call": 91,
      "physics_step": 364,
      "sim_time_s": 1.8199999999999832,
      "observation": [
        3.551232099533081,
        5.459951400756836,
        -4.478323936462402,
        -0.6740649342536926,
        -0.7190963625907898,
        -0.16892853379249573,
        -0.27678290009498596,
        0.07770103216171265,
        0.8096127510070801,
        0.23625437915325165,
        -0.48011040687561035,
        0.6701301336288452,
        -0.07408495247364044,
        -3.0239005088806152,
        0.4428631663322449,
        -0.5342313051223755,
        0.3039649724960327,
        1.1203101873397827,
        0.47391974925994873,
        0.4601616859436035,
        -1.2562806606292725,
        -2.034951686859131,
        -0.24073617160320282,
        -0.36290910840034485,
        -3.313631057739258,
        3.184931993484497,
        1.4038712978363037,
        -7.25292444229126,
        -0.009793140925467014,
        0.0474444217979908,
        -0.01948215812444687,
        -0.22812016308307648,
        2.737746477127075,
        2.690164089202881,
        -0.45950445532798767,
        -0.21886107325553894,
        0.9720954895019531,
        -0.06632344424724579,
        -0.6687043905258179,
        0.9898656606674194,
        0.1032470315694809,
        -4.231298923492432,
        1.2957175970077515,
        -3.3337600231170654,
        1.5449491739273071,
        1.3376778364181519,
        0.6268230080604553,
        0.6693602204322815,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.4753812551498413,
        -0.2080521583557129,
        1.0238245725631714,
        -0.10186396539211273,
        -0.6730297803878784,
        0.9116297960281372,
        0.08756724745035172,
        -4.00211238861084,
        1.1529945135116577,
        -3.1130099296569824,
        1.4238098859786987,
        1.1635397672653198,
        0.55260169506073,
        0.6624078750610352
      ],
      "target_rad": [
        -0.4753812551498413,
        -0.29535216093063354,
        0.5659245848655701,
        -0.10676396638154984,
        -0.2200297713279724,
        1.2607297897338867,
        0.43666723370552063,
        -4.00211238861084,
        1.1529945135116577,
        -3.1130099296569824,
        1.5111098289489746,
        1.6214396953582764,
        0.5575016736984253,
        0.20940786600112915
      ],
      "elapsed_seconds": 0.00011247798101976514
    },
    {
      "call": 92,
      "physics_step": 368,
      "sim_time_s": 1.8399999999999828,
      "observation": [
        3.855181932449341,
        4.885150909423828,
        -7.763119697570801,
        -0.5420962572097778,
        -0.8218178153038025,
        -0.17534856498241425,
        -0.30101409554481506,
        0.035399310290813446,
        0.8174878358840942,
        0.21107888221740723,
        -0.5371873378753662,
        0.7184882760047913,
        -0.06106282398104668,
        -3.041431427001953,
        0.44226333498954773,
        -0.5336233973503113,
        0.30337220430374146,
        1.1169053316116333,
        0.5174006819725037,
        0.5090293884277344,
        -0.3076145648956299,
        -1.7588071823120117,
        0.5408661961555481,
        -1.5889482498168945,
        -2.586418628692627,
        0.8534343242645264,
        0.4325254559516907,
        0.9229413270950317,
        -0.04314179718494415,
        0.01993640512228012,
        -0.030829347670078278,
        -0.13464748859405518,
        1.8766623735427856,
        2.2864303588867188,
        -0.4753812551498413,
        -0.2080521583557129,
        1.0238245725631714,
        -0.10186396539211273,
        -0.6730297803878784,
        0.9116297960281372,
        0.08756724745035172,
        -4.00211238861084,
        1.1529945135116577,
        -3.1130099296569824,
        1.4238098859786987,
        1.1635397672653198,
        0.55260169506073,
        0.6624078750610352,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.5349313616752625,
        -0.20479579269886017,
        1.0598899126052856,
        -0.20255199074745178,
        -0.7418237328529358,
        0.8271868228912354,
        0.12469037622213364,
        -3.680431604385376,
        1.0166534185409546,
        -2.8726766109466553,
        1.3185898065567017,
        0.9750687479972839,
        0.45801904797554016,
        0.7185437083244324
      ],
      "target_rad": [
        -0.5349313616752625,
        -0.29209578037261963,
        0.6019899249076843,
        -0.2074519842863083,
        -0.2888237237930298,
        1.1762868165969849,
        0.47379037737846375,
        -3.680431604385376,
        1.0166534185409546,
        -2.8726766109466553,
        1.4058897495269775,
        1.4329687356948853,
        0.46291905641555786,
        0.26554369926452637
      ],
      "elapsed_seconds": 7.515604374930263e-05
    },
    {
      "call": 93,
      "physics_step": 372,
      "sim_time_s": 1.8599999999999823,
      "observation": [
        3.1258158683776855,
        4.2230939865112305,
        -7.814905166625977,
        -0.39205309748649597,
        -0.9063528180122375,
        -0.15754029154777527,
        -0.28967204689979553,
        0.007864735089242458,
        0.8276100158691406,
        0.16889742016792297,
        -0.5848686099052429,
        0.7158738970756531,
        -0.04789682477712631,
        -3.0140299797058105,
        0.4412190616130829,
        -0.5334544777870178,
        0.30275759100914,
        1.1072450876235962,
        0.5400998592376709,
        0.5527991056442261,
        0.8522762060165405,
        -1.2366260290145874,
        0.49066856503486633,
        -2.3494961261749268,
        -2.2528164386749268,
        -0.37358489632606506,
        0.8289965987205505,
        1.3375376462936401,
        -0.04894459247589111,
        0.0040402039885520935,
        -0.02665385603904724,
        -0.6359353065490723,
        0.7418107390403748,
        2.1119587421417236,
        -0.5349313616752625,
        -0.20479579269886017,
        1.0598899126052856,
        -0.20255199074745178,
        -0.7418237328529358,
        0.8271868228912354,
        0.12469037622213364,
        -3.680431604385376,
        1.0166534185409546,
        -2.8726766109466553,
        1.3185898065567017,
        0.9750687479972839,
        0.45801904797554016,
        0.7185437083244324,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.45738929510116577,
        -0.08663798868656158,
        0.8996167182922363,
        -0.270153284072876,
        -0.7640329599380493,
        0.5814779996871948,
        0.10596131533384323,
        -3.1434993743896484,
        0.7636051774024963,
        -2.3442840576171875,
        1.0833714008331299,
        0.7721658945083618,
        0.3244318664073944,
        0.6376301050186157
      ],
      "target_rad": [
        -0.45738929510116577,
        -0.17393799126148224,
        0.441716730594635,
        -0.2750532925128937,
        -0.3110329508781433,
        0.9305779933929443,
        0.45506131649017334,
        -3.1434993743896484,
        0.7636051774024963,
        -2.3442840576171875,
        1.1706714630126953,
        1.2300658226013184,
        0.3293318748474121,
        0.18463009595870972
      ],
      "elapsed_seconds": 6.0884980484843254e-05
    },
    {
      "call": 94,
      "physics_step": 376,
      "sim_time_s": 1.879999999999982,
      "observation": [
        2.384551763534546,
        3.7788286209106445,
        -7.777899742126465,
        -0.23473244905471802,
        -0.9629725217819214,
        -0.13260690867900848,
        -0.27191850543022156,
        -0.008643750101327896,
        0.8333843350410461,
        0.11262740939855576,
        -0.6263756155967712,
        0.7032446265220642,
        -0.027956798672676086,
        -2.9927306175231934,
        0.4400221109390259,
        -0.5334277749061584,
        0.3019792139530182,
        1.0807007551193237,
        0.5380657911300659,
        0.5870285630226135,
        0.8350327610969543,
        -0.6258453130722046,
        0.21195630729198456,
        -3.018463373184204,
        -1.9588876962661743,
        -0.7620465755462646,
        1.0745503902435303,
        0.8762277960777283,
        -0.05628489702939987,
        0.0005029421299695969,
        -0.03784104809165001,
        -1.6582056283950806,
        -0.5204124450683594,
        1.4881656169891357,
        -0.45738929510116577,
        -0.08663798868656158,
        0.8996167182922363,
        -0.270153284072876,
        -0.7640329599380493,
        0.5814779996871948,
        0.10596131533384323,
        -3.1434993743896484,
        0.7636051774024963,
        -2.3442840576171875,
        1.0833714008331299,
        0.7721658945083618,
        0.3244318664073944,
        0.6376301050186157,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.30479559302330017,
        0.06519422680139542,
        0.7108384966850281,
        -0.24659346044063568,
        -0.7111271619796753,
        0.25790920853614807,
        0.046211112290620804,
        -2.3836922645568848,
        0.5250363945960999,
        -1.6609610319137573,
        0.7437707781791687,
        0.5079742670059204,
        0.18480855226516724,
        0.5205880999565125
      ],
      "target_rad": [
        -0.30479559302330017,
        -0.022105775773525238,
        0.25293850898742676,
        -0.2514934539794922,
        -0.2581271529197693,
        0.6070091724395752,
        0.3953111171722412,
        -2.3836922645568848,
        0.5250363945960999,
        -1.6609610319137573,
        0.8310707807540894,
        0.9658742547035217,
        0.18970854580402374,
        0.06758809089660645
      ],
      "elapsed_seconds": 0.00011158903362229466
    },
    {
      "call": 95,
      "physics_step": 380,
      "sim_time_s": 1.8999999999999815,
      "observation": [
        4.31452751159668,
        2.870103120803833,
        -5.273899078369141,
        -0.08261717110872269,
        -0.9925264120101929,
        -0.08980941027402878,
        -0.2603273093700409,
        -0.013524836860597134,
        0.8318353891372681,
        0.048793502151966095,
        -0.6579887270927429,
        0.669697642326355,
        -0.009972839616239071,
        -2.9490301609039307,
        0.43817636370658875,
        -0.5319346785545349,
        0.29967358708381653,
        1.024970293045044,
        0.5097208023071289,
        0.6039887070655823,
        0.2988908588886261,
        -0.37807750701904297,
        -0.2602565884590149,
        -3.2123475074768066,
        -1.361942172050476,
        -2.1952476501464844,
        0.853107750415802,
        2.8190457820892334,
        -0.1709280014038086,
        0.13435880839824677,
        -0.2845819592475891,
        -3.5164334774017334,
        -1.8914545774459839,
        0.5525821447372437,
        -0.30479559302330017,
        0.06519422680139542,
        0.7108384966850281,
        -0.24659346044063568,
        -0.7111271619796753,
        0.25790920853614807,
        0.046211112290620804,
        -2.3836922645568848,
        0.5250363945960999,
        -1.6609610319137573,
        0.7437707781791687,
        0.5079742670059204,
        0.18480855226516724,
        0.5205880999565125,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.2892894446849823,
        0.14827755093574524,
        0.559437096118927,
        -0.14613567292690277,
        -0.5023414492607117,
        -0.07571464776992798,
        -0.15943102538585663,
        -1.7482681274414062,
        0.3152344822883606,
        -1.1895824670791626,
        0.44288113713264465,
        0.3531702160835266,
        0.06420519948005676,
        0.47068607807159424
      ],
      "target_rad": [
        -0.2892894446849823,
        0.060977548360824585,
        0.10153710842132568,
        -0.15103566646575928,
        -0.049341440200805664,
        0.27338534593582153,
        0.18966896831989288,
        -1.7482681274414062,
        0.3152344822883606,
        -1.1895824670791626,
        0.5301811695098877,
        0.8110702037811279,
        0.06910520046949387,
        0.017686069011688232
      ],
      "elapsed_seconds": 6.35450123809278e-05
    },
    {
      "call": 96,
      "physics_step": 384,
      "sim_time_s": 1.919999999999981,
      "observation": [
        6.199093341827393,
        1.013134479522705,
        -7.201894283294678,
        0.0342702753841877,
        -0.9990059733390808,
        0.028506552800536156,
        -0.26261478662490845,
        -0.014361346140503883,
        0.8212442994117737,
        -0.01169181801378727,
        -0.6666482090950012,
        0.6064183115959167,
        -0.012865369208157063,
        -2.8901045322418213,
        0.43712881207466125,
        -0.5297509431838989,
        0.29639557003974915,
        0.9295002818107605,
        0.4582398533821106,
        0.6046846508979797,
        -0.27761197090148926,
        0.2623199224472046,
        -0.6012974977493286,
        -2.9313671588897705,
        0.0235202107578516,
        -3.4594643115997314,
        -0.7267542481422424,
        2.5943846702575684,
        0.05117415264248848,
        0.0768330991268158,
        -0.049965325742959976,
        -5.338589191436768,
        -2.8302674293518066,
        -0.23010261356830597,
        -0.2892894446849823,
        0.14827755093574524,
        0.559437096118927,
        -0.14613567292690277,
        -0.5023414492607117,
        -0.07571464776992798,
        -0.15943102538585663,
        -1.7482681274414062,
        0.3152344822883606,
        -1.1895824670791626,
        0.44288113713264465,
        0.3531702160835266,
        0.06420519948005676,
        0.47068607807159424,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.26613444089889526,
        0.12233293801546097,
        0.409313827753067,
        0.009273184463381767,
        -0.39891573786735535,
        -0.29078108072280884,
        -0.21470846235752106,
        -1.4140989780426025,
        0.2825525403022766,
        -0.8771618604660034,
        0.2491912692785263,
        0.1893070936203003,
        0.04904881492257118,
        0.48644012212753296
      ],
      "target_rad": [
        -0.26613444089889526,
        0.035032935440540314,
        -0.0485861599445343,
        0.004373184405267239,
        0.05408427119255066,
        0.058318912982940674,
        0.13439153134822845,
        -1.4140989780426025,
        0.2825525403022766,
        -0.8771618604660034,
        0.33649128675460815,
        0.6472070813179016,
        0.053948815912008286,
        0.03344011306762695
      ],
      "elapsed_seconds": 6.80750235915184e-05
    },
    {
      "call": 97,
      "physics_step": 388,
      "sim_time_s": 1.9399999999999806,
      "observation": [
        6.070784091949463,
        0.11430065333843231,
        -8.872762680053711,
        0.18091216683387756,
        -0.9716547131538391,
        0.1521773636341095,
        -0.26543644070625305,
        -0.0005963421426713467,
        0.7995812296867371,
        -0.055441949516534805,
        -0.6505041122436523,
        0.5123185515403748,
        -0.037748292088508606,
        -2.7849042415618896,
        0.43205660581588745,
        -0.5279696583747864,
        0.2897554934024811,
        0.8102495670318604,
        0.39502933621406555,
        0.5952528119087219,
        -0.2430691421031952,
        0.8758481740951538,
        -1.2029269933700562,
        -1.8523212671279907,
        1.199916958808899,
        -5.0070013999938965,
        -1.653957486152649,
        5.704429626464844,
        0.015296475030481815,
        0.06962016969919205,
        -0.43468135595321655,
        -6.224874496459961,
        -3.249833822250366,
        -0.5960573554039001,
        -0.26613444089889526,
        0.12233293801546097,
        0.409313827753067,
        0.009273184463381767,
        -0.39891573786735535,
        -0.29078108072280884,
        -0.21470846235752106,
        -1.4140989780426025,
        0.2825525403022766,
        -0.8771618604660034,
        0.2491912692785263,
        0.1893070936203003,
        0.04904881492257118,
        0.48644012212753296,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.2540174424648285,
        0.08160150051116943,
        0.2931685149669647,
        0.0765918418765068,
        -0.3135337233543396,
        -0.3645634353160858,
        -0.34878554940223694,
        -1.054756760597229,
        0.15176939964294434,
        -0.26228225231170654,
        0.004479872062802315,
        -0.03292319178581238,
        0.22720828652381897,
        0.31582245230674744
      ],
      "target_rad": [
        -0.2540174424648285,
        -0.005698502063751221,
        -0.1647314727306366,
        0.0716918408870697,
        0.1394662857055664,
        -0.015463441610336304,
        0.00031444430351257324,
        -1.054756760597229,
        0.15176939964294434,
        -0.26228225231170654,
        0.09177987277507782,
        0.42497679591178894,
        0.23210828006267548,
        -0.13717755675315857
      ],
      "elapsed_seconds": 6.532500265166163e-05
    },
    {
      "call": 98,
      "physics_step": 392,
      "sim_time_s": 1.9599999999999802,
      "observation": [
        5.546322345733643,
        -0.5532973408699036,
        -12.064416885375977,
        0.3904852271080017,
        -0.8837855458259583,
        0.25776806473731995,
        -0.2703168988227844,
        0.019918173551559448,
        0.7687100768089294,
        -0.08014123886823654,
        -0.6133541464805603,
        0.40413039922714233,
        -0.08637384325265884,
        -2.6399309635162354,
        0.4316539168357849,
        -0.5166277289390564,
        0.2648676037788391,
        0.675352156162262,
        0.33908623456954956,
        0.5713472962379456,
        -0.2174263745546341,
        1.0608022212982178,
        -1.8476831912994385,
        -0.8683359622955322,
        2.155413866043091,
        -5.716196537017822,
        -2.685887098312378,
        8.41158390045166,
        -0.24550695717334747,
        0.8878757357597351,
        -1.6422593593597412,
        -6.856099605560303,
        -2.5582964420318604,
        -1.475892424583435,
        -0.2540174424648285,
        0.08160150051116943,
        0.2931685149669647,
        0.0765918418765068,
        -0.3135337233543396,
        -0.3645634353160858,
        -0.34878554940223694,
        -1.054756760597229,
        0.15176939964294434,
        -0.26228225231170654,
        0.004479872062802315,
        -0.03292319178581238,
        0.22720828652381897,
        0.31582245230674744,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.24061302840709686,
        0.0015901587903499603,
        0.12912586331367493,
        0.140755757689476,
        -0.2749013602733612,
        -0.38340333104133606,
        -0.2918612062931061,
        -1.1070687770843506,
        -0.05633886903524399,
        0.016174256801605225,
        -0.09743352234363556,
        -0.1712392121553421,
        0.3785504102706909,
        0.20205342769622803
      ],
      "target_rad": [
        -0.24061302840709686,
        -0.0857098400592804,
        -0.3287741243839264,
        0.1358557641506195,
        0.1780986487865448,
        -0.03430333733558655,
        0.05723878741264343,
        -1.1070687770843506,
        -0.05633886903524399,
        0.016174256801605225,
        -0.010133519768714905,
        0.2866607904434204,
        0.3834504187107086,
        -0.250946581363678
      ],
      "elapsed_seconds": 4.879297921434045e-05
    },
    {
      "call": 99,
      "physics_step": 396,
      "sim_time_s": 1.9799999999999798,
      "observation": [
        6.505070209503174,
        -1.5468742847442627,
        -12.200536727905273,
        0.6016595363616943,
        -0.7225103378295898,
        0.34056511521339417,
        -0.2777756154537201,
        0.032985467463731766,
        0.7144100069999695,
        -0.08542920649051666,
        -0.562593400478363,
        0.29129013419151306,
        -0.1428096741437912,
        -2.4701285362243652,
        0.42014530301094055,
        -0.4887158274650574,
        0.22447627782821655,
        0.5376458168029785,
        0.2997726798057556,
        0.5307690501213074,
        -0.5049463510513306,
        0.31770703196525574,
        -3.1584885120391846,
        0.032244984060525894,
        2.6971864700317383,
        -5.436302661895752,
        -2.8491082191467285,
        7.808216571807861,
        -0.5522948503494263,
        1.0290818214416504,
        -1.8474454879760742,
        -6.7358078956604,
        -1.7881495952606201,
        -2.2329354286193848,
        -0.24061302840709686,
        0.0015901587903499603,
        0.12912586331367493,
        0.140755757689476,
        -0.2749013602733612,
        -0.38340333104133606,
        -0.2918612062931061,
        -1.1070687770843506,
        -0.05633886903524399,
        0.016174256801605225,
        -0.09743352234363556,
        -0.1712392121553421,
        0.3785504102706909,
        0.20205342769622803,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.26437515020370483,
        -0.006240028887987137,
        0.08568321168422699,
        0.20954565703868866,
        -0.23047244548797607,
        -0.45636317133903503,
        -0.2183227688074112,
        -1.163256049156189,
        -0.22050802409648895,
        0.10519309341907501,
        -0.14579419791698456,
        -0.17203617095947266,
        0.44044139981269836,
        0.1778528243303299
      ],
      "target_rad": [
        -0.26437515020370483,
        -0.09354002773761749,
        -0.37221676111221313,
        0.20464566349983215,
        0.22252756357192993,
        -0.10726317763328552,
        0.13077722489833832,
        -1.163256049156189,
        -0.22050802409648895,
        0.10519309341907501,
        -0.058494195342063904,
        0.28586381673812866,
        0.44534140825271606,
        -0.2751471996307373
      ],
      "elapsed_seconds": 0.00016909302212297916
    },
    {
      "call": 100,
      "physics_step": 400,
      "sim_time_s": 1.9999999999999793,
      "observation": [
        5.510098934173584,
        -3.051992654800415,
        -10.761079788208008,
        0.7573277354240417,
        -0.5299277305603027,
        0.38161665201187134,
        -0.27656975388526917,
        0.04420658200979233,
        0.6484692096710205,
        -0.07243561744689941,
        -0.5052687525749207,
        0.184412881731987,
        -0.17781706154346466,
        -2.3030941486358643,
        0.404293954372406,
        -0.4528745412826538,
        0.18268665671348572,
        0.40599125623703003,
        0.27777695655822754,
        0.48165780305862427,
        0.17968250811100006,
        0.6247255802154541,
        -3.4139018058776855,
        0.9525765776634216,
        2.9139742851257324,
        -5.150111675262451,
        -1.0800244808197021,
        8.476838111877441,
        -0.613707959651947,
        2.298271656036377,
        -2.3365018367767334,
        -6.427737236022949,
        -0.6888155341148376,
        -2.5728845596313477,
        -0.26437515020370483,
        -0.006240028887987137,
        0.08568321168422699,
        0.20954565703868866,
        -0.23047244548797607,
        -0.45636317133903503,
        -0.2183227688074112,
        -1.163256049156189,
        -0.22050802409648895,
        0.10519309341907501,
        -0.14579419791698456,
        -0.17203617095947266,
        0.44044139981269836,
        0.1778528243303299,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.3214961886405945,
        0.006054926663637161,
        0.08009696006774902,
        0.20351095497608185,
        -0.19899863004684448,
        -0.4154411852359772,
        -0.153341606259346,
        -0.9706444144248962,
        -0.30183595418930054,
        0.18216954171657562,
        -0.16702090203762054,
        -0.1362760066986084,
        0.4299151599407196,
        0.08464315533638
      ],
      "target_rad": [
        -0.3214961886405945,
        -0.08124507963657379,
        -0.3778030276298523,
        0.19861096143722534,
        0.2540013790130615,
        -0.06634119153022766,
        0.1957583874464035,
        -0.9706444144248962,
        -0.30183595418930054,
        0.18216954171657562,
        -0.07972089946269989,
        0.3216239809989929,
        0.4348151683807373,
        -0.368356853723526
      ],
      "elapsed_seconds": 6.73960312269628e-05
    },
    {
      "call": 101,
      "physics_step": 404,
      "sim_time_s": 2.019999999999979,
      "observation": [
        4.5300822257995605,
        -3.5975582599639893,
        -11.25695514678955,
        0.8772405385971069,
        -0.31079351902008057,
        0.36586394906044006,
        -0.27539482712745667,
        0.056261561810970306,
        0.5732190012931824,
        -0.046506986021995544,
        -0.446338951587677,
        0.08296594768762589,
        -0.18196696043014526,
        -2.115629196166992,
        0.3779541552066803,
        -0.3860365152359009,
        0.12393826991319656,
        0.28845512866973877,
        0.27417081594467163,
        0.42342573404312134,
        0.02210577391088009,
        0.5732071399688721,
        -3.9383203983306885,
        1.463314414024353,
        2.9225549697875977,
        -5.104307174682617,
        0.16899512708187103,
        9.782002449035645,
        -1.8730144500732422,
        3.822357416152954,
        -3.2188518047332764,
        -5.519289493560791,
        0.05881897360086441,
        -3.0425174236297607,
        -0.3214961886405945,
        0.006054926663637161,
        0.08009696006774902,
        0.20351095497608185,
        -0.19899863004684448,
        -0.4154411852359772,
        -0.153341606259346,
        -0.9706444144248962,
        -0.30183595418930054,
        0.18216954171657562,
        -0.16702090203762054,
        -0.1362760066986084,
        0.4299151599407196,
        0.08464315533638,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.39408424496650696,
        0.006739068776369095,
        0.12530578672885895,
        0.18300935626029968,
        -0.2143508493900299,
        -0.34595787525177,
        -0.14846289157867432,
        -0.828100323677063,
        -0.32028859853744507,
        0.18757717311382294,
        -0.17187432944774628,
        -0.1807454228401184,
        0.4170302152633667,
        0.08595454692840576
      ],
      "target_rad": [
        -0.39408424496650696,
        -0.08056093752384186,
        -0.33259421586990356,
        0.17810936272144318,
        0.2386491596698761,
        0.003142118453979492,
        0.2006371021270752,
        -0.828100323677063,
        -0.32028859853744507,
        0.18757717311382294,
        -0.08457432687282562,
        0.2771545648574829,
        0.4219302237033844,
        -0.36704546213150024
      ],
      "elapsed_seconds": 9.765801951289177e-05
    },
    {
      "call": 102,
      "physics_step": 408,
      "sim_time_s": 2.0399999999999787,
      "observation": [
        3.623588800430298,
        -3.1495866775512695,
        -11.447053909301758,
        0.944706380367279,
        -0.07376285642385483,
        0.3195134699344635,
        -0.27805113792419434,
        0.06637360900640488,
        0.49326616525650024,
        -0.014887703582644463,
        -0.3917427659034729,
        -0.018386514857411385,
        -0.17306911945343018,
        -1.9064997434616089,
        0.31680747866630554,
        -0.3011401891708374,
        0.054957278072834015,
        0.18839585781097412,
        0.2799873352050781,
        0.36200079321861267,
        -0.19344867765903473,
        0.4676787257194519,
        -4.009039402008057,
        1.6321423053741455,
        2.5945489406585693,
        -5.044455528259277,
        0.5118895173072815,
        10.716853141784668,
        -3.7633144855499268,
        4.404769420623779,
        -3.5202102661132812,
        -4.684905529022217,
        0.4085666835308075,
        -3.0454180240631104,
        -0.39408424496650696,
        0.006739068776369095,
        0.12530578672885895,
        0.18300935626029968,
        -0.2143508493900299,
        -0.34595787525177,
        -0.14846289157867432,
        -0.828100323677063,
        -0.32028859853744507,
        0.18757717311382294,
        -0.17187432944774628,
        -0.1807454228401184,
        0.4170302152633667,
        0.08595454692840576,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.44435665011405945,
        0.027740828692913055,
        0.16092869639396667,
        0.15765096247196198,
        -0.20487532019615173,
        -0.31834766268730164,
        -0.16703318059444427,
        -0.6695476770401001,
        -0.33324134349823,
        0.17791149020195007,
        -0.17758773267269135,
        -0.18219858407974243,
        0.4065782427787781,
        0.08768706023693085
      ],
      "target_rad": [
        -0.44435665011405945,
        -0.0595591738820076,
        -0.29697129130363464,
        0.15275096893310547,
        0.24812468886375427,
        0.030752331018447876,
        0.18206681311130524,
        -0.6695476770401001,
        -0.33324134349823,
        0.17791149020195007,
        -0.09028773009777069,
        0.2757014036178589,
        0.4114782512187958,
        -0.36531293392181396
      ],
      "elapsed_seconds": 9.876699186861515e-05
    },
    {
      "call": 103,
      "physics_step": 412,
      "sim_time_s": 2.0599999999999783,
      "observation": [
        2.869826078414917,
        -3.291093349456787,
        -12.388859748840332,
        0.9509543776512146,
        0.17369849979877472,
        0.25595828890800476,
        -0.28620436787605286,
        0.07710738480091095,
        0.4186890721321106,
        0.016744378954172134,
        -0.3446371853351593,
        -0.11009445041418076,
        -0.15559682250022888,
        -1.6877002716064453,
        0.24064697325229645,
        -0.2148558348417282,
        -0.0164516419172287,
        0.10562700033187866,
        0.2896660566329956,
        0.304225355386734,
        -0.49914517998695374,
        0.5876717567443848,
        -3.537928342819214,
        1.5443923473358154,
        2.202066421508789,
        -4.261781215667725,
        1.1255322694778442,
        10.916150093078613,
        -3.6279685497283936,
        4.1957268714904785,
        -3.5784666538238525,
        -3.815274477005005,
        0.5119119882583618,
        -2.771026611328125,
        -0.44435665011405945,
        0.027740828692913055,
        0.16092869639396667,
        0.15765096247196198,
        -0.20487532019615173,
        -0.31834766268730164,
        -0.16703318059444427,
        -0.6695476770401001,
        -0.33324134349823,
        0.17791149020195007,
        -0.17758773267269135,
        -0.18219858407974243,
        0.4065782427787781,
        0.08768706023693085,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.4674100875854492,
        0.08788010478019714,
        0.22915656864643097,
        0.0958026647567749,
        -0.17449812591075897,
        -0.26372551918029785,
        -0.14314334094524384,
        -0.6474277973175049,
        -0.2889290452003479,
        0.15343645215034485,
        -0.20860125124454498,
        -0.1480884850025177,
        0.32556602358818054,
        0.10698868334293365
      ],
      "target_rad": [
        -0.4674100875854492,
        0.0005801022052764893,
        -0.22874341905117035,
        0.0909026637673378,
        0.27850186824798584,
        0.08537447452545166,
        0.20595665276050568,
        -0.6474277973175049,
        -0.2889290452003479,
        0.15343645215034485,
        -0.12130124866962433,
        0.3098115026950836,
        0.33046603202819824,
        -0.34601134061813354
      ],
      "elapsed_seconds": 6.160495104268193e-05
    },
    {
      "call": 104,
      "physics_step": 416,
      "sim_time_s": 2.079999999999978,
      "observation": [
        2.0266237258911133,
        -2.481996774673462,
        -12.501548767089844,
        0.889496922492981,
        0.4162173569202423,
        0.18856920301914215,
        -0.2985371947288513,
        0.09207364171743393,
        0.3561812937259674,
        0.043055836111307144,
        -0.3043186068534851,
        -0.18447695672512054,
        -0.13267509639263153,
        -1.4734182357788086,
        0.16674041748046875,
        -0.13750413060188293,
        -0.08608980476856232,
        0.04051877558231354,
        0.2963719964027405,
        0.2546504735946655,
        -0.6681612133979797,
        0.8038084506988525,
        -2.9026107788085938,
        1.1913608312606812,
        1.8944222927093506,
        -3.4373281002044678,
        1.0344352722167969,
        10.498779296875,
        -3.865783452987671,
        3.662719249725342,
        -3.368495225906372,
        -2.9373695850372314,
        0.25044703483581543,
        -2.300593614578247,
        -0.4674100875854492,
        0.08788010478019714,
        0.22915656864643097,
        0.0958026647567749,
        -0.17449812591075897,
        -0.26372551918029785,
        -0.14314334094524384,
        -0.6474277973175049,
        -0.2889290452003479,
        0.15343645215034485,
        -0.20860125124454498,
        -0.1480884850025177,
        0.32556602358818054,
        0.10698868334293365,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.4262000322341919,
        0.1657796949148178,
        0.26490259170532227,
        -0.02582353726029396,
        -0.11078232526779175,
        -0.24643632769584656,
        -0.10394327342510223,
        -0.6253868937492371,
        -0.20659427344799042,
        0.12188214063644409,
        -0.2267438918352127,
        -0.11368800699710846,
        0.20500732958316803,
        0.06826648116111755
      ],
      "target_rad": [
        -0.4262000322341919,
        0.07847969233989716,
        -0.19299739599227905,
        -0.030723538249731064,
        0.34221768379211426,
        0.10266366600990295,
        0.24515672028064728,
        -0.6253868937492371,
        -0.20659427344799042,
        0.12188214063644409,
        -0.13944388926029205,
        0.34421199560165405,
        0.20990732312202454,
        -0.38473352789878845
      ],
      "elapsed_seconds": 0.00010262796422466636
    },
    {
      "call": 105,
      "physics_step": 420,
      "sim_time_s": 2.0999999999999774,
      "observation": [
        1.60075044631958,
        -2.0109615325927734,
        -12.477972984313965,
        0.7651194930076599,
        0.63041090965271,
        0.13105061650276184,
        -0.31037235260009766,
        0.1129310354590416,
        0.30773746967315674,
        0.05650177597999573,
        -0.267149955034256,
        -0.23923523724079132,
        -0.11052712798118591,
        -1.2739003896713257,
        0.10011374205350876,
        -0.07374223321676254,
        -0.14970333874225616,
        -0.00838593952357769,
        0.29403552412986755,
        0.21213938295841217,
        -0.5509265661239624,
        1.1288247108459473,
        -2.1690123081207275,
        0.4076146185398102,
        1.8147882223129272,
        -2.4045355319976807,
        1.0459710359573364,
        9.580302238464355,
        -3.183368444442749,
        2.9150633811950684,
        -3.017765760421753,
        -2.1564347743988037,
        -0.29890531301498413,
        -2.009085178375244,
        -0.4262000322341919,
        0.1657796949148178,
        0.26490259170532227,
        -0.02582353726029396,
        -0.11078232526779175,
        -0.24643632769584656,
        -0.10394327342510223,
        -0.6253868937492371,
        -0.20659427344799042,
        0.12188214063644409,
        -0.2267438918352127,
        -0.11368800699710846,
        0.20500732958316803,
        0.06826648116111755,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.3664919137954712,
        0.22106598317623138,
        0.2672424912452698,
        -0.16422626376152039,
        -0.043390847742557526,
        -0.20194999873638153,
        -0.022285878658294678,
        -0.6912295818328857,
        -0.05736510455608368,
        0.048422958701848984,
        -0.2114740014076233,
        -0.07690323889255524,
        -0.004502466414123774,
        0.06102701649069786
      ],
      "target_rad": [
        -0.3664919137954712,
        0.13376598060131073,
        -0.19065749645233154,
        -0.1691262573003769,
        0.4096091687679291,
        0.14714999496936798,
        0.32681411504745483,
        -0.6912295818328857,
        -0.05736510455608368,
        0.048422958701848984,
        -0.12417399883270264,
        0.3809967637062073,
        0.0003975336439907551,
        -0.39197298884391785
      ],
      "elapsed_seconds": 6.0534977819770575e-05
    },
    {
      "call": 106,
      "physics_step": 424,
      "sim_time_s": 2.119999999999977,
      "observation": [
        -1.1515815258026123,
        1.6961100101470947,
        -9.445051193237305,
        0.6212716102600098,
        0.7687703371047974,
        0.15170304477214813,
        -0.3412448465824127,
        0.10332512855529785,
        0.3301036059856415,
        0.04775386303663254,
        -0.2527618408203125,
        -0.25326088070869446,
        -0.09326537698507309,
        -1.1102180480957031,
        0.05173812806606293,
        -0.027281934395432472,
        -0.17694036662578583,
        -0.029175328090786934,
        0.2684853672981262,
        0.17635191977024078,
        -1.729688048362732,
        -0.8880358338356018,
        1.9594496488571167,
        -0.7216647863388062,
        0.4401296377182007,
        -0.04936344549059868,
        0.911644697189331,
        7.524900436401367,
        -1.839202642440796,
        2.0160908699035645,
        -0.7733461856842041,
        -0.6847343444824219,
        -1.6690878868103027,
        -1.6714366674423218,
        -0.3664919137954712,
        0.22106598317623138,
        0.2672424912452698,
        -0.16422626376152039,
        -0.043390847742557526,
        -0.20194999873638153,
        -0.022285878658294678,
        -0.6912295818328857,
        -0.05736510455608368,
        0.048422958701848984,
        -0.2114740014076233,
        -0.07690323889255524,
        -0.004502466414123774,
        0.06102701649069786,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.01421272661536932,
        0.26981469988822937,
        -0.08409501612186432,
        -0.39090943336486816,
        0.4622083306312561,
        -0.43170270323753357,
        -0.06057917699217796,
        -0.7687179446220398,
        0.0322088897228241,
        0.006348852068185806,
        -0.25728753209114075,
        0.16631963849067688,
        -0.21418941020965576,
        -0.2306145429611206
      ],
      "target_rad": [
        -0.01421272661536932,
        0.18251469731330872,
        -0.5419949889183044,
        -0.39580944180488586,
        0.9152083396911621,
        -0.08260270953178406,
        0.28852081298828125,
        -0.7687179446220398,
        0.0322088897228241,
        0.006348852068185806,
        -0.1699875295162201,
        0.6242196559906006,
        -0.20928941667079926,
        -0.6836145520210266
      ],
      "elapsed_seconds": 6.891501834616065e-05
    },
    {
      "call": 107,
      "physics_step": 428,
      "sim_time_s": 2.1399999999999766,
      "observation": [
        -1.512632966041565,
        2.1500470638275146,
        -7.796986103057861,
        0.47827738523483276,
        0.8557286262512207,
        0.1974315643310547,
        -0.3515850603580475,
        0.08960958570241928,
        0.3483719527721405,
        0.013254795223474503,
        -0.2119843065738678,
        -0.2531351149082184,
        -0.08060938119888306,
        -0.9757760763168335,
        0.0379691943526268,
        0.004942822270095348,
        -0.18685373663902283,
        -0.0288485586643219,
        0.21813169121742249,
        0.12952524423599243,
        0.15802645683288574,
        -0.5095910429954529,
        0.20215483009815216,
        -2.2162671089172363,
        2.9036004543304443,
        -0.04931436851620674,
        0.4946235716342926,
        6.2369818687438965,
        -0.1892043650150299,
        1.3879855871200562,
        -0.4030815660953522,
        0.3375224769115448,
        -2.8986027240753174,
        -2.6465799808502197,
        -0.01421272661536932,
        0.26981469988822937,
        -0.08409501612186432,
        -0.39090943336486816,
        0.4622083306312561,
        -0.43170270323753357,
        -0.06057917699217796,
        -0.7687179446220398,
        0.0322088897228241,
        0.006348852068185806,
        -0.25728753209114075,
        0.16631963849067688,
        -0.21418941020965576,
        -0.2306145429611206,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.06017109006643295,
        0.21602372825145721,
        -0.2770121991634369,
        -0.338376522064209,
        0.49832582473754883,
        -0.4629814028739929,
        -0.0351751483976841,
        -0.8321945071220398,
        0.1588197648525238,
        -0.05858507379889488,
        -0.24072711169719696,
        0.15164628624916077,
        -0.24450403451919556,
        -0.2680497467517853
      ],
      "target_rad": [
        0.06017109006643295,
        0.12872372567653656,
        -0.7349121570587158,
        -0.3432765305042267,
        0.9513258337974548,
        -0.11388140916824341,
        0.3139248490333557,
        -0.8321945071220398,
        0.1588197648525238,
        -0.05858507379889488,
        -0.1534271091222763,
        0.6095463037490845,
        -0.23960404098033905,
        -0.7210497856140137
      ],
      "elapsed_seconds": 9.580800542607903e-05
    },
    {
      "call": 108,
      "physics_step": 432,
      "sim_time_s": 2.159999999999976,
      "observation": [
        -1.364047884941101,
        2.2156801223754883,
        -6.356993675231934,
        0.3481188118457794,
        0.9060755968093872,
        0.2405000925064087,
        -0.32735171914100647,
        0.08423019200563431,
        0.3213583528995514,
        -0.038555242121219635,
        -0.13175009191036224,
        -0.2590551972389221,
        -0.07344774901866913,
        -0.8719316720962524,
        0.049082569777965546,
        0.022613516077399254,
        -0.19357317686080933,
        -0.01619787886738777,
        0.15194182097911835,
        0.06944374740123749,
        1.7501397132873535,
        -0.025325356051325798,
        -2.2202768325805664,
        -2.7463231086730957,
        4.556445121765137,
        -0.4998888671398163,
        0.29031163454055786,
        4.492384910583496,
        0.7900968790054321,
        0.5971992015838623,
        -0.3390386700630188,
        0.7823736071586609,
        -3.4740161895751953,
        -3.1419296264648438,
        0.06017109006643295,
        0.21602372825145721,
        -0.2770121991634369,
        -0.338376522064209,
        0.49832582473754883,
        -0.4629814028739929,
        -0.0351751483976841,
        -0.8321945071220398,
        0.1588197648525238,
        -0.05858507379889488,
        -0.24072711169719696,
        0.15164628624916077,
        -0.24450403451919556,
        -0.2680497467517853,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.022914912551641464,
        0.15917694568634033,
        -0.35915181040763855,
        -0.2197665572166443,
        0.4643680453300476,
        -0.385738730430603,
        0.06848319619894028,
        -0.9011530876159668,
        0.2594485282897949,
        -0.07243624329566956,
        -0.1975519061088562,
        0.09260071069002151,
        -0.22218111157417297,
        -0.25907161831855774
      ],
      "target_rad": [
        0.022914912551641464,
        0.07187694311141968,
        -0.8170517683029175,
        -0.2246665507555008,
        0.9173680543899536,
        -0.036638736724853516,
        0.4175831973552704,
        -0.9011530876159668,
        0.2594485282897949,
        -0.07243624329566956,
        -0.11025190353393555,
        0.5505006909370422,
        -0.21728111803531647,
        -0.7120716571807861
      ],
      "elapsed_seconds": 6.344501161947846e-05
    },
    {
      "call": 109,
      "physics_step": 436,
      "sim_time_s": 2.1799999999999757,
      "observation": [
        -0.642238438129425,
        2.2918505668640137,
        -4.806313991546631,
        0.23979328572750092,
        0.9336838722229004,
        0.2659579813480377,
        -0.28189757466316223,
        0.08554008603096008,
        0.25438791513442993,
        -0.08777990937232971,
        -0.0339437872171402,
        -0.26521483063697815,
        -0.06531990319490433,
        -0.8006496429443359,
        0.08424914628267288,
        0.027108974754810333,
        -0.1998201608657837,
        -0.0011407912243157625,
        0.08188896626234055,
        0.006574191618710756,
        2.4709057807922363,
        -0.20291799306869507,
        -3.712794542312622,
        -2.2363388538360596,
        4.897134304046631,
        -0.21209852397441864,
        0.479321151971817,
        3.0853569507598877,
        2.179633617401123,
        0.060848336666822433,
        -0.13543371856212616,
        0.7635498046875,
        -3.4706077575683594,
        -3.1023828983306885,
        0.022914912551641464,
        0.15917694568634033,
        -0.35915181040763855,
        -0.2197665572166443,
        0.4643680453300476,
        -0.385738730430603,
        0.06848319619894028,
        -0.9011530876159668,
        0.2594485282897949,
        -0.07243624329566956,
        -0.1975519061088562,
        0.09260071069002151,
        -0.22218111157417297,
        -0.25907161831855774,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.006853331811726093,
        0.14674246311187744,
        -0.35658231377601624,
        -0.12995320558547974,
        0.41406068205833435,
        -0.30286216735839844,
        0.10914675146341324,
        -0.8568769693374634,
        0.3148157596588135,
        -0.02251749113202095,
        -0.17211003601551056,
        0.031159333884716034,
        -0.15656043589115143,
        -0.22162166237831116
      ],
      "target_rad": [
        0.006853331811726093,
        0.05944246053695679,
        -0.8144823312759399,
        -0.13485319912433624,
        0.867060661315918,
        0.046237826347351074,
        0.45824673771858215,
        -0.8568769693374634,
        0.3148157596588135,
        -0.02251749113202095,
        -0.0848100334405899,
        0.48905932903289795,
        -0.15166044235229492,
        -0.6746217012405396
      ],
      "elapsed_seconds": 6.297399522736669e-05
    },
    {
      "call": 110,
      "physics_step": 440,
      "sim_time_s": 2.1999999999999753,
      "observation": [
        -0.7307258248329163,
        2.38866925239563,
        -3.970878839492798,
        0.14607112109661102,
        0.9459542632102966,
        0.28954067826271057,
        -0.2308858335018158,
        0.07371198385953903,
        0.17458853125572205,
        -0.12009933590888977,
        0.05746009945869446,
        -0.26477858424186707,
        -0.05169161036610603,
        -0.7516518235206604,
        0.13752055168151855,
        0.02685982920229435,
        -0.19660493731498718,
        0.011416426859796047,
        0.019220814108848572,
        -0.049808304756879807,
        2.581465005874634,
        -0.6514536738395691,
        -4.158648490905762,
        -1.289697527885437,
        4.377166271209717,
        0.12955068051815033,
        0.7634986639022827,
        2.072871446609497,
        2.881126642227173,
        -0.055997785180807114,
        0.24759669601917267,
        0.5421741008758545,
        -2.9250245094299316,
        -2.639779806137085,
        0.006853331811726093,
        0.14674246311187744,
        -0.35658231377601624,
        -0.12995320558547974,
        0.41406068205833435,
        -0.30286216735839844,
        0.10914675146341324,
        -0.8568769693374634,
        0.3148157596588135,
        -0.02251749113202095,
        -0.17211003601551056,
        0.031159333884716034,
        -0.15656043589115143,
        -0.22162166237831116,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.017600949853658676,
        0.1442728340625763,
        -0.3887866735458374,
        -0.06927651166915894,
        0.38954296708106995,
        -0.26747557520866394,
        0.13912656903266907,
        -0.8270394802093506,
        0.35027003288269043,
        -0.0059066154062747955,
        -0.16581891477108002,
        -0.012861132621765137,
        -0.12355666607618332,
        -0.21208515763282776
      ],
      "target_rad": [
        0.017600949853658676,
        0.05697283148765564,
        -0.8466866612434387,
        -0.07417651265859604,
        0.8425430059432983,
        0.08162441849708557,
        0.4882265627384186,
        -0.8270394802093506,
        0.35027003288269043,
        -0.0059066154062747955,
        -0.07851891219615936,
        0.4450388550758362,
        -0.11865666508674622,
        -0.6650851964950562
      ],
      "elapsed_seconds": 7.25860008969903e-05
    },
    {
      "call": 111,
      "physics_step": 444,
      "sim_time_s": 2.219999999999975,
      "observation": [
        -0.3582371175289154,
        2.5163588523864746,
        -3.3402271270751953,
        0.06453067809343338,
        0.9506527185440063,
        0.3034719228744507,
        -0.1795605570077896,
        0.06162722036242485,
        0.0875338464975357,
        -0.13685061037540436,
        0.1386125236749649,
        -0.2582654356956482,
        -0.0341806635260582,
        -0.7201495170593262,
        0.19943039119243622,
        0.02515920251607895,
        -0.19149865210056305,
        0.01763901673257351,
        -0.03077949583530426,
        -0.09573590010404587,
        2.53696608543396,
        -0.7012295722961426,
        -4.373973846435547,
        -0.6538276672363281,
        3.884493112564087,
        0.40321505069732666,
        0.9273079633712769,
        1.3378511667251587,
        3.1339454650878906,
        -0.10003529489040375,
        0.27659639716148376,
        0.19176127016544342,
        -2.253941297531128,
        -2.0944535732269287,
        0.017600949853658676,
        0.1442728340625763,
        -0.3887866735458374,
        -0.06927651166915894,
        0.38954296708106995,
        -0.26747557520866394,
        0.13912656903266907,
        -0.8270394802093506,
        0.35027003288269043,
        -0.0059066154062747955,
        -0.16581891477108002,
        -0.012861132621765137,
        -0.12355666607618332,
        -0.21208515763282776,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.02638208121061325,
        0.14135554432868958,
        -0.3782535791397095,
        -0.032118961215019226,
        0.3426898419857025,
        -0.2166980803012848,
        0.14588414132595062,
        -0.7667691707611084,
        0.37987250089645386,
        0.03367846459150314,
        -0.1529136598110199,
        -0.06330925971269608,
        -0.08958332985639572,
        -0.18724988400936127
      ],
      "target_rad": [
        0.02638208121061325,
        0.05405554175376892,
        -0.8361535668373108,
        -0.03701896220445633,
        0.7956898212432861,
        0.13240191340446472,
        0.49498414993286133,
        -0.7667691707611084,
        0.37987250089645386,
        0.03367846459150314,
        -0.06561365723609924,
        0.39459073543548584,
        -0.08468332886695862,
        -0.6402499079704285
      ],
      "elapsed_seconds": 7.672602077946067e-05
    },
    {
      "call": 112,
      "physics_step": 448,
      "sim_time_s": 2.2399999999999745,
      "observation": [
        -0.021214142441749573,
        2.6030969619750977,
        -3.1989951133728027,
        -0.01205254253000021,
        0.9516803622245789,
        0.3068537414073944,
        -0.13067416846752167,
        0.047076497226953506,
        0.002170268911868334,
        -0.1432354599237442,
        0.20701731741428375,
        -0.24676120281219482,
        -0.01471360120922327,
        -0.6973215341567993,
        0.2617107033729553,
        0.024522844702005386,
        -0.1858619749546051,
        0.01689601130783558,
        -0.06667730212211609,
        -0.12983345985412598,
        2.38620924949646,
        -0.8577090501785278,
        -4.147218227386475,
        -0.1817801296710968,
        3.1660940647125244,
        0.6370169520378113,
        0.995245099067688,
        1.0712491273880005,
        3.03595232963562,
        -0.008601578883826733,
        0.3062484562397003,
        -0.153397798538208,
        -1.5381996631622314,
        -1.4883109331130981,
        0.02638208121061325,
        0.14135554432868958,
        -0.3782535791397095,
        -0.032118961215019226,
        0.3426898419857025,
        -0.2166980803012848,
        0.14588414132595062,
        -0.7667691707611084,
        0.37987250089645386,
        0.03367846459150314,
        -0.1529136598110199,
        -0.06330925971269608,
        -0.08958332985639572,
        -0.18724988400936127,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.03597760945558548,
        0.1380186676979065,
        -0.36695852875709534,
        -0.010905256494879723,
        0.2964437007904053,
        -0.17678138613700867,
        0.1450047343969345,
        -0.7321816682815552,
        0.40585654973983765,
        0.06050247699022293,
        -0.1414843648672104,
        -0.10902850329875946,
        -0.07345034927129745,
        -0.16416671872138977
      ],
      "target_rad": [
        0.03597760945558548,
        0.05071866512298584,
        -0.824858546257019,
        -0.015805255621671677,
        0.7494437098503113,
        0.17231860756874084,
        0.4941047430038452,
        -0.7321816682815552,
        0.40585654973983765,
        0.06050247699022293,
        -0.054184362292289734,
        0.34887146949768066,
        -0.06855034828186035,
        -0.6171667575836182
      ],
      "elapsed_seconds": 0.00014053098857402802
    },
    {
      "call": 113,
      "physics_step": 452,
      "sim_time_s": 2.259999999999974,
      "observation": [
        0.3212730288505554,
        2.6339547634124756,
        -3.3548452854156494,
        -0.09018632769584656,
        0.9495323896408081,
        0.30042409896850586,
        -0.08529186993837357,
        0.029649512842297554,
        -0.07548411190509796,
        -0.14211466908454895,
        0.2587730884552002,
        -0.23142024874687195,
        0.005032745189964771,
        -0.6768460869789124,
        0.31946277618408203,
        0.025963306427001953,
        -0.1794050931930542,
        0.008649583905935287,
        -0.08940145373344421,
        -0.152084618806839,
        2.198310613632202,
        -0.8570908904075623,
        -3.718510866165161,
        0.1835682988166809,
        2.2578742504119873,
        0.8223481774330139,
        0.9671554565429688,
        0.9965511560440063,
        2.784716844558716,
        0.11271496117115021,
        0.32905516028404236,
        -0.5418323278427124,
        -0.9165486693382263,
        -0.9107861518859863,
        0.03597760945558548,
        0.1380186676979065,
        -0.36695852875709534,
        -0.010905256494879723,
        0.2964437007904053,
        -0.17678138613700867,
        0.1450047343969345,
        -0.7321816682815552,
        0.40585654973983765,
        0.06050247699022293,
        -0.1414843648672104,
        -0.10902850329875946,
        -0.07345034927129745,
        -0.16416671872138977,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.046082764863967896,
        0.13165634870529175,
        -0.3539241850376129,
        0.0012968089431524277,
        0.24638524651527405,
        -0.14466625452041626,
        0.13076534867286682,
        -0.7215402722358704,
        0.4365580677986145,
        0.08044546842575073,
        -0.1296866238117218,
        -0.15078479051589966,
        -0.06617071479558945,
        -0.13856951892375946
      ],
      "target_rad": [
        0.046082764863967896,
        0.044356346130371094,
        -0.8118242025375366,
        -0.003603191114962101,
        0.6993852853775024,
        0.20443373918533325,
        0.47986534237861633,
        -0.7215402722358704,
        0.4365580677986145,
        0.08044546842575073,
        -0.04238662123680115,
        0.30711519718170166,
        -0.061270713806152344,
        -0.5915695428848267
      ],
      "elapsed_seconds": 6.477499846369028e-05
    },
    {
      "call": 114,
      "physics_step": 456,
      "sim_time_s": 2.2799999999999736,
      "observation": [
        -0.1175328940153122,
        2.4302167892456055,
        -3.50545334815979,
        -0.17108751833438873,
        0.940639317035675,
        0.29313260316848755,
        -0.04968013986945152,
        0.0007138069486245513,
        -0.14515931904315948,
        -0.13152921199798584,
        0.29001346230506897,
        -0.21505145728588104,
        0.024268940091133118,
        -0.6572505831718445,
        0.37082719802856445,
        0.03140893951058388,
        -0.16807442903518677,
        -0.007871747016906738,
        -0.10075395554304123,
        -0.1635802835226059,
        1.4932514429092407,
        -1.6457444429397583,
        -3.3890724182128906,
        0.7824071645736694,
        1.1607815027236938,
        0.8069127202033997,
        0.9441748261451721,
        0.9192174673080444,
        2.4523966312408447,
        0.365421324968338,
        0.6812508702278137,
        -0.977008044719696,
        -0.3738192021846771,
        -0.4015735387802124,
        0.046082764863967896,
        0.13165634870529175,
        -0.3539241850376129,
        0.0012968089431524277,
        0.24638524651527405,
        -0.14466625452041626,
        0.13076534867286682,
        -0.7215402722358704,
        0.4365580677986145,
        0.08044546842575073,
        -0.1296866238117218,
        -0.15078479051589966,
        -0.06617071479558945,
        -0.13856951892375946,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.0744047686457634,
        0.14042776823043823,
        -0.38644278049468994,
        0.013894489035010338,
        0.23998618125915527,
        -0.1570078432559967,
        0.10830952972173691,
        -0.7784440517425537,
        0.46346473693847656,
        0.06602127850055695,
        -0.1256607621908188,
        -0.17871594429016113,
        -0.09492838382720947,
        -0.15248249471187592
      ],
      "target_rad": [
        0.0744047686457634,
        0.05312776565551758,
        -0.8443427681922913,
        0.00899448897689581,
        0.6929861903190613,
        0.1920921504497528,
        0.457409530878067,
        -0.7784440517425537,
        0.46346473693847656,
        0.06602127850055695,
        -0.03836075961589813,
        0.2791840434074402,
        -0.09002838283777237,
        -0.6054825186729431
      ],
      "elapsed_seconds": 7.899600313976407e-05
    },
    {
      "call": 115,
      "physics_step": 460,
      "sim_time_s": 2.299999999999973,
      "observation": [
        -0.023781897500157356,
        2.2434422969818115,
        -3.5723235607147217,
        -0.2502853572368622,
        0.9253333210945129,
        0.2848077714443207,
        -0.02289191074669361,
        -0.0287789274007082,
        -0.21081125736236572,
        -0.11025611311197281,
        0.3016679883003235,
        -0.20041421055793762,
        0.040192943066358566,
        -0.6436430215835571,
        0.41673627495765686,
        0.03956529498100281,
        -0.1544663906097412,
        -0.03203961253166199,
        -0.10514850914478302,
        -0.16811062395572662,
        1.2724319696426392,
        -1.3292287588119507,
        -3.2028117179870605,
        1.1919142007827759,
        0.27223458886146545,
        0.6808651089668274,
        0.7087872624397278,
        0.5606082677841187,
        2.1806397438049316,
        0.42294052243232727,
        0.6548594236373901,
        -1.31406831741333,
        -0.13799554109573364,
        -0.13658280670642853,
        0.0744047686457634,
        0.14042776823043823,
        -0.38644278049468994,
        0.013894489035010338,
        0.23998618125915527,
        -0.1570078432559967,
        0.10830952972173691,
        -0.7784440517425537,
        0.46346473693847656,
        0.06602127850055695,
        -0.1256607621908188,
        -0.17871594429016113,
        -0.09492838382720947,
        -0.15248249471187592,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.08587319403886795,
        0.14380314946174622,
        -0.34903109073638916,
        0.02214963175356388,
        0.19740499556064606,
        -0.13881352543830872,
        0.05378585308790207,
        -0.7934358716011047,
        0.5004948377609253,
        0.06138419359922409,
        -0.11054104566574097,
        -0.20253729820251465,
        -0.11592702567577362,
        -0.13539619743824005
      ],
      "target_rad": [
        0.08587319403886795,
        0.05650314688682556,
        -0.8069310784339905,
        0.017249632626771927,
        0.6504049897193909,
        0.2102864682674408,
        0.4028858542442322,
        -0.7934358716011047,
        0.5004948377609253,
        0.06138419359922409,
        -0.023241043090820312,
        0.25536268949508667,
        -0.11102702468633652,
        -0.5883961915969849
      ],
      "elapsed_seconds": 5.841499660164118e-05
    },
    {
      "call": 116,
      "physics_step": 464,
      "sim_time_s": 2.3199999999999728,
      "observation": [
        0.1012212410569191,
        2.1060218811035156,
        -3.856921672821045,
        -0.3307912349700928,
        0.9039393663406372,
        0.27105504274368286,
        0.0018659174675121903,
        -0.048884399235248566,
        -0.2697269320487976,
        -0.08295971900224686,
        0.2981913983821869,
        -0.18734999001026154,
        0.048536837100982666,
        -0.6357349157333374,
        0.4463403522968292,
        0.04791530221700668,
        -0.14196299016475677,
        -0.06141034886240959,
        -0.10704295337200165,
        -0.16847652196884155,
        1.2248250246047974,
        -0.7523881793022156,
        -2.7969539165496826,
        1.464303731918335,
        -0.37035346031188965,
        0.6895314455032349,
        0.23076412081718445,
        0.31362780928611755,
        0.5712637901306152,
        0.41553986072540283,
        0.6049862504005432,
        -1.5342602729797363,
        -0.07074045389890671,
        0.03270263224840164,
        0.08587319403886795,
        0.14380314946174622,
        -0.34903109073638916,
        0.02214963175356388,
        0.19740499556064606,
        -0.13881352543830872,
        0.05378585308790207,
        -0.7934358716011047,
        0.5004948377609253,
        0.06138419359922409,
        -0.11054104566574097,
        -0.20253729820251465,
        -0.11592702567577362,
        -0.13539619743824005,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.09572084993124008,
        0.14846749603748322,
        -0.28201809525489807,
        0.029675470665097237,
        0.13573752343654633,
        -0.11135365068912506,
        -0.04154463857412338,
        -0.788475751876831,
        0.5577490925788879,
        0.04318200796842575,
        -0.0924701988697052,
        -0.20089781284332275,
        -0.1421980857849121,
        -0.11329808831214905
      ],
      "target_rad": [
        0.09572084993124008,
        0.06116749346256256,
        -0.7399181127548218,
        0.024775471538305283,
        0.5887375473976135,
        0.23774634301662445,
        0.30755534768104553,
        -0.788475751876831,
        0.5577490925788879,
        0.04318200796842575,
        -0.005170196294784546,
        0.25700217485427856,
        -0.1372980922460556,
        -0.5662981271743774
      ],
      "elapsed_seconds": 8.202705066651106e-05
    },
    {
      "call": 117,
      "physics_step": 468,
      "sim_time_s": 2.3399999999999723,
      "observation": [
        0.27803483605384827,
        1.997658610343933,
        -4.492183208465576,
        -0.41599029302597046,
        0.8740944862365723,
        0.2508205771446228,
        0.026038359850645065,
        -0.05640367045998573,
        -0.3164989948272705,
        -0.052063945680856705,
        0.28275489807128906,
        -0.17329497635364532,
        0.044776175171136856,
        -0.6316505074501038,
        0.446243017911911,
        0.05467703193426132,
        -0.13037768006324768,
        -0.09241724014282227,
        -0.10914880782365799,
        -0.16543395817279816,
        1.1989688873291016,
        -0.2895301878452301,
        -2.1279406547546387,
        1.5928412675857544,
        -0.9839362502098083,
        0.6471967697143555,
        -0.3596854507923126,
        0.18717141449451447,
        -0.15927816927433014,
        0.2999293804168701,
        0.5892549157142639,
        -1.5461598634719849,
        -0.11081580072641373,
        0.20768477022647858,
        0.09572084993124008,
        0.14846749603748322,
        -0.28201809525489807,
        0.029675470665097237,
        0.13573752343654633,
        -0.11135365068912506,
        -0.04154463857412338,
        -0.788475751876831,
        0.5577490925788879,
        0.04318200796842575,
        -0.0924701988697052,
        -0.20089781284332275,
        -0.1421980857849121,
        -0.11329808831214905,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.11683124303817749,
        0.15856307744979858,
        -0.1575174778699875,
        0.04135257005691528,
        0.040301091969013214,
        -0.04336240887641907,
        -0.19532448053359985,
        -0.7080377340316772,
        0.6495994925498962,
        0.008759092539548874,
        -0.06028928980231285,
        -0.10854099690914154,
        -0.1401297152042389,
        -0.07889345288276672
      ],
      "target_rad": [
        0.11683124303817749,
        0.07126307487487793,
        -0.61541748046875,
        0.03645256906747818,
        0.4933010935783386,
        0.30573758482933044,
        0.15377551317214966,
        -0.7080377340316772,
        0.6495994925498962,
        0.008759092539548874,
        0.027010712772607803,
        0.3493589758872986,
        -0.13522972166538239,
        -0.5318934917449951
      ],
      "elapsed_seconds": 7.379602175205946e-05
    },
    {
      "call": 118,
      "physics_step": 472,
      "sim_time_s": 2.359999999999972,
      "observation": [
        0.39636924862861633,
        1.8546979427337646,
        -5.794336318969727,
        -0.5157467126846313,
        0.8259421586990356,
        0.2276507169008255,
        0.0508035272359848,
        -0.058955639600753784,
        -0.3470587432384491,
        -0.019194703549146652,
        0.25236615538597107,
        -0.1618131548166275,
        0.027644658461213112,
        -0.6236007213592529,
        0.44278231263160706,
        0.05743589624762535,
        -0.1176469475030899,
        -0.11706966161727905,
        -0.11098293960094452,
        -0.1582385003566742,
        1.246748447418213,
        -0.028601765632629395,
        -1.202170491218567,
        1.636214017868042,
        -1.7795381546020508,
        0.5266193747520447,
        -1.1026254892349243,
        0.5040624737739563,
        -0.1580829620361328,
        0.05617733672261238,
        0.6355248093605042,
        -1.0589853525161743,
        -0.08258803188800812,
        0.4314560294151306,
        0.11683124303817749,
        0.15856307744979858,
        -0.1575174778699875,
        0.04135257005691528,
        0.040301091969013214,
        -0.04336240887641907,
        -0.19532448053359985,
        -0.7080377340316772,
        0.6495994925498962,
        0.008759092539548874,
        -0.06028928980231285,
        -0.10854099690914154,
        -0.1401297152042389,
        -0.07889345288276672,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.18051113188266754,
        0.1768535077571869,
        0.013095498085021973,
        0.05340861529111862,
        -0.03707241266965866,
        0.04924921691417694,
        -0.3748229742050171,
        -0.6019881367683411,
        0.7828709483146667,
        -0.07727624475955963,
        -0.004202405922114849,
        0.0674281194806099,
        -0.11751426756381989,
        -0.05273592472076416
      ],
      "target_rad": [
        0.18051113188266754,
        0.08955350518226624,
        -0.44480448961257935,
        0.04850861430168152,
        0.41592758893966675,
        0.39834922552108765,
        -0.025722980499267578,
        -0.6019881367683411,
        0.7828709483146667,
        -0.07727624475955963,
        0.08309759944677353,
        0.5253280997276306,
        -0.11261426657438278,
        -0.5057359337806702
      ],
      "elapsed_seconds": 6.768596358597279e-05
    },
    {
      "call": 119,
      "physics_step": 476,
      "sim_time_s": 2.3799999999999715,
      "observation": [
        0.6467328071594238,
        1.9908711910247803,
        -7.401649475097656,
        -0.6306759715080261,
        0.7510753870010376,
        0.19527825713157654,
        0.07897354662418365,
        -0.05395699664950371,
        -0.3544706404209137,
        0.013232768513262272,
        0.20742517709732056,
        -0.15016335248947144,
        -0.007736142259091139,
        -0.6059457063674927,
        0.4406592845916748,
        0.05239420384168625,
        -0.1031980812549591,
        -0.12398547679185867,
        -0.11133342236280441,
        -0.14683650434017181,
        1.5038286447525024,
        0.30729126930236816,
        -0.03175892308354378,
        1.6270602941513062,
        -2.498112678527832,
        0.545519232749939,
        -2.0429482460021973,
        1.1123836040496826,
        -0.08113136142492294,
        -0.4002596437931061,
        0.7746018767356873,
        -0.01040800753980875,
        0.009558115154504776,
        0.630596399307251,
        0.18051113188266754,
        0.1768535077571869,
        0.013095498085021973,
        0.05340861529111862,
        -0.03707241266965866,
        0.04924921691417694,
        -0.3748229742050171,
        -0.6019881367683411,
        0.7828709483146667,
        -0.07727624475955963,
        -0.004202405922114849,
        0.0674281194806099,
        -0.11751426756381989,
        -0.05273592472076416,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.1687808334827423,
        0.22029219567775726,
        0.2465852051973343,
        0.06071250140666962,
        -0.10843995213508606,
        0.1545942723751068,
        -0.5321222543716431,
        -0.6255590319633484,
        0.960944414138794,
        -0.24162031710147858,
        0.0641564279794693,
        0.2971213459968567,
        -0.11167982220649719,
        -0.013938041403889656
      ],
      "target_rad": [
        0.1687808334827423,
        0.1329921931028366,
        -0.21131478250026703,
        0.05581250041723251,
        0.34456005692481995,
        0.5036942958831787,
        -0.18302226066589355,
        -0.6255590319633484,
        0.960944414138794,
        -0.24162031710147858,
        0.15145643055438995,
        0.755021333694458,
        -0.10677982121706009,
        -0.4669380486011505
      ],
      "elapsed_seconds": 7.556600030511618e-05
    },
    {
      "call": 120,
      "physics_step": 480,
      "sim_time_s": 2.399999999999971,
      "observation": [
        -1.09368097782135,
        -0.12560726702213287,
        -6.408717155456543,
        -0.7326322793960571,
        0.653644323348999,
        0.18973416090011597,
        0.10210368037223816,
        -0.029879136011004448,
        -0.3197387754917145,
        0.039735786616802216,
        0.1523713320493698,
        -0.13703951239585876,
        -0.05626421421766281,
        -0.5882455110549927,
        0.43981149792671204,
        0.04388557747006416,
        -0.07521039247512817,
        -0.1163758784532547,
        -0.10351203382015228,
        -0.132460817694664,
        0.8535885214805603,
        1.8304990530014038,
        2.866048812866211,
        1.0406221151351929,
        -2.755805253982544,
        0.9303922057151794,
        -2.679736614227295,
        0.5932395458221436,
        -0.02722669020295143,
        -0.36713144183158875,
        1.758812665939331,
        0.5110988616943359,
        0.610628068447113,
        0.7466953992843628,
        0.1687808334827423,
        0.22029219567775726,
        0.2465852051973343,
        0.06071250140666962,
        -0.10843995213508606,
        0.1545942723751068,
        -0.5321222543716431,
        -0.6255590319633484,
        0.960944414138794,
        -0.24162031710147858,
        0.0641564279794693,
        0.2971213459968567,
        -0.11167982220649719,
        -0.013938041403889656,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.1111619770526886,
        0.21873348951339722,
        0.5586908459663391,
        0.032141052186489105,
        -0.023787418380379677,
        0.2831402122974396,
        -0.6052752137184143,
        -0.6356720328330994,
        1.2015568017959595,
        -0.45087119936943054,
        0.23634620010852814,
        0.771032452583313,
        -0.08100123703479767,
        0.0011269785463809967
      ],
      "target_rad": [
        0.1111619770526886,
        0.13143348693847656,
        0.10079085826873779,
        0.027241051197052002,
        0.4292125999927521,
        0.6322401762008667,
        -0.2561752200126648,
        -0.6356720328330994,
        1.2015568017959595,
        -0.45087119936943054,
        0.3236461877822876,
        1.2289323806762695,
        -0.07610123604536057,
        -0.4518730342388153
      ],
      "elapsed_seconds": 5.5915035773068666e-05
    },
    {
      "call": 121,
      "physics_step": 484,
      "sim_time_s": 2.4199999999999706,
      "observation": [
        -1.224166750907898,
        -0.31172415614128113,
        -6.838624477386475,
        -0.8116035461425781,
        0.5458975434303284,
        0.20807573199272156,
        0.11230023950338364,
        0.013349072076380253,
        -0.22866663336753845,
        0.05425894260406494,
        0.10352358222007751,
        -0.11847836524248123,
        -0.11399538069963455,
        -0.5816945433616638,
        0.4398714601993561,
        0.018309960141777992,
        -0.030960669741034508,
        -0.06997429579496384,
        -0.08865263313055038,
        -0.11592457443475723,
        0.3506486713886261,
        2.2659316062927246,
        5.329680442810059,
        0.5582207441329956,
        -2.2524032592773438,
        1.0864965915679932,
        -3.061725378036499,
        0.19962459802627563,
        0.01226988434791565,
        -1.781686544418335,
        2.4052236080169678,
        3.2716169357299805,
        0.763065755367279,
        0.8637627363204956,
        0.1111619770526886,
        0.21873348951339722,
        0.5586908459663391,
        0.032141052186489105,
        -0.023787418380379677,
        0.2831402122974396,
        -0.6052752137184143,
        -0.6356720328330994,
        1.2015568017959595,
        -0.45087119936943054,
        0.23634620010852814,
        0.771032452583313,
        -0.08100123703479767,
        0.0011269785463809967,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        0.022744860500097275,
        0.35937339067459106,
        0.7199791073799133,
        0.09910108894109726,
        0.07535792887210846,
        0.375875860452652,
        -0.547393262386322,
        -0.9957117438316345,
        1.3546723127365112,
        -0.7407832145690918,
        0.2514689266681671,
        1.0377886295318604,
        -0.18052656948566437,
        0.015315297991037369
      ],
      "target_rad": [
        0.022744860500097275,
        0.2720733880996704,
        0.262079119682312,
        0.09420108795166016,
        0.5283579230308533,
        0.7249758243560791,
        -0.1982932686805725,
        -0.9957117438316345,
        1.3546723127365112,
        -0.7407832145690918,
        0.33876892924308777,
        1.4956886768341064,
        -0.17562657594680786,
        -0.43768471479415894
      ],
      "elapsed_seconds": 7.261597784236073e-05
    },
    {
      "call": 122,
      "physics_step": 488,
      "sim_time_s": 2.43999999999997,
      "observation": [
        -0.4077393114566803,
        -0.011667218059301376,
        -6.934262752532959,
        -0.8782579898834229,
        0.4260215163230896,
        0.21718339622020721,
        0.11194831877946854,
        0.06257062405347824,
        -0.09906429052352905,
        0.06407823413610458,
        0.07050907611846924,
        -0.09518468379974365,
        -0.168620303273201,
        -0.5940555930137634,
        0.4404699504375458,
        -0.04381139203906059,
        0.02004477195441723,
        0.029255952686071396,
        -0.07868342846632004,
        -0.09776738286018372,
        -0.20335930585861206,
        2.5216188430786133,
        6.981709003448486,
        0.44434648752212524,
        -1.3259469270706177,
        1.3018804788589478,
        -2.599757432937622,
        -1.0446134805679321,
        0.03257022053003311,
        -3.7689967155456543,
        2.5941336154937744,
        5.800400733947754,
        0.3310438394546509,
        0.9244579672813416,
        0.022744860500097275,
        0.35937339067459106,
        0.7199791073799133,
        0.09910108894109726,
        0.07535792887210846,
        0.375875860452652,
        -0.547393262386322,
        -0.9957117438316345,
        1.3546723127365112,
        -0.7407832145690918,
        0.2514689266681671,
        1.0377886295318604,
        -0.18052656948566437,
        0.015315297991037369,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.04025464132428169,
        0.4878010153770447,
        0.8968996405601501,
        0.17438209056854248,
        0.12050744891166687,
        0.5092200040817261,
        -0.5194973945617676,
        -1.3427565097808838,
        1.512082576751709,
        -1.0539926290512085,
        0.295116126537323,
        1.2605568170547485,
        -0.2576653063297272,
        0.043605346232652664
      ],
      "target_rad": [
        -0.04025464132428169,
        0.400501012802124,
        0.43899965286254883,
        0.16948209702968597,
        0.5735074281692505,
        0.8583199977874756,
        -0.17039740085601807,
        -1.3427565097808838,
        1.512082576751709,
        -1.0539926290512085,
        0.38241612911224365,
        1.718456745147705,
        -0.2527652978897095,
        -0.40939465165138245
      ],
      "elapsed_seconds": 6.959500024095178e-05
    },
    {
      "call": 123,
      "physics_step": 492,
      "sim_time_s": 2.4599999999999698,
      "observation": [
        0.6456076502799988,
        0.8087365031242371,
        -6.351250171661377,
        -0.9301199913024902,
        0.3101212978363037,
        0.19672714173793793,
        0.10302065312862396,
        0.11619911342859268,
        0.05216123163700104,
        0.0770663321018219,
        0.05487675219774246,
        -0.056992918252944946,
        -0.2148234099149704,
        -0.6391671895980835,
        0.4413221776485443,
        -0.1515551507472992,
        0.0719091072678566,
        0.17642921209335327,
        -0.08104553818702698,
        -0.07765434682369232,
        -0.7521777749061584,
        2.795506715774536,
        8.053949356079102,
        0.6244025230407715,
        -0.47309359908103943,
        1.9278883934020996,
        -1.9905059337615967,
        -2.8349971771240234,
        0.043277349323034286,
        -6.040284156799316,
        2.5998451709747314,
        7.845670223236084,
        -0.27134987711906433,
        1.0174211263656616,
        -0.04025464132428169,
        0.4878010153770447,
        0.8968996405601501,
        0.17438209056854248,
        0.12050744891166687,
        0.5092200040817261,
        -0.5194973945617676,
        -1.3427565097808838,
        1.512082576751709,
        -1.0539926290512085,
        0.295116126537323,
        1.2605568170547485,
        -0.2576653063297272,
        0.043605346232652664,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.10743477195501328,
        0.4935677647590637,
        1.0657671689987183,
        0.1581416130065918,
        0.08080898970365524,
        0.637596607208252,
        -0.4923311769962311,
        -1.6659765243530273,
        1.6132227182388306,
        -1.3385151624679565,
        0.4519059658050537,
        1.4974559545516968,
        -0.1912660151720047,
        0.09847493469715118
      ],
      "target_rad": [
        -0.10743477195501328,
        0.40626776218414307,
        0.6078671813011169,
        0.1532416194677353,
        0.5338090062141418,
        0.9866966009140015,
        -0.14323118329048157,
        -1.6659765243530273,
        1.6132227182388306,
        -1.3385151624679565,
        0.5392059683799744,
        1.9553558826446533,
        -0.1863660216331482,
        -0.354525089263916
      ],
      "elapsed_seconds": 6.450503133237362e-05
    },
    {
      "call": 124,
      "physics_step": 496,
      "sim_time_s": 2.4799999999999693,
      "observation": [
        0.902449369430542,
        -0.36084309220314026,
        -7.744886875152588,
        -0.964483380317688,
        0.18153032660484314,
        0.191881462931633,
        0.0840051993727684,
        0.1647970974445343,
        0.210598886013031,
        0.0972396582365036,
        0.044675469398498535,
        -0.01743929460644722,
        -0.2419796884059906,
        -0.7185820937156677,
        0.44218289852142334,
        -0.3000311553478241,
        0.13270477950572968,
        0.3516464829444885,
        -0.08561734855175018,
        -0.05473431944847107,
        -0.6274885535240173,
        1.7668102979660034,
        6.775939464569092,
        1.7067540884017944,
        -0.8116486668586731,
        1.7587878704071045,
        -0.9164518117904663,
        -4.281973361968994,
        0.03896283730864525,
        -8.115967750549316,
        3.3339757919311523,
        9.222390174865723,
        -0.23470686376094818,
        1.2020121812820435,
        -0.10743477195501328,
        0.4935677647590637,
        1.0657671689987183,
        0.1581416130065918,
        0.08080898970365524,
        0.637596607208252,
        -0.4923311769962311,
        -1.6659765243530273,
        1.6132227182388306,
        -1.3385151624679565,
        0.4519059658050537,
        1.4974559545516968,
        -0.1912660151720047,
        0.09847493469715118,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.29429855942726135,
        0.5307134389877319,
        1.3248586654663086,
        0.1226312667131424,
        0.16472266614437103,
        0.8912167549133301,
        -0.5120489001274109,
        -2.2840468883514404,
        1.9008152484893799,
        -2.052046298980713,
        0.758735716342926,
        1.7902555465698242,
        -0.09282681345939636,
        0.29932311177253723
      ],
      "target_rad": [
        -0.29429855942726135,
        0.4434134364128113,
        0.8669586777687073,
        0.11773126572370529,
        0.6177226901054382,
        1.2403167486190796,
        -0.16294890642166138,
        -2.2840468883514404,
        1.9008152484893799,
        -2.052046298980713,
        0.8460357189178467,
        2.2481555938720703,
        -0.08792681246995926,
        -0.15367689728736877
      ],
      "elapsed_seconds": 6.706500425934792e-05
    },
    {
      "call": 125,
      "physics_step": 500,
      "sim_time_s": 2.499999999999969,
      "observation": [
        1.0260225534439087,
        1.2104209661483765,
        -8.014662742614746,
        -0.9831433296203613,
        0.02133038081228733,
        0.18158791959285736,
        0.06106049194931984,
        0.20441116392612457,
        0.35433638095855713,
        0.13044214248657227,
        0.036467988044023514,
        0.044038206338882446,
        -0.26240599155426025,
        -0.8562359809875488,
        0.4431501030921936,
        -0.512961208820343,
        0.21467281877994537,
        0.5617775917053223,
        -0.08717190474271774,
        -0.018105531111359596,
        -1.5161372423171997,
        2.1562893390655518,
        7.619399070739746,
        1.4135271310806274,
        -0.09869040548801422,
        3.797365427017212,
        -1.1196666955947876,
        -8.160000801086426,
        0.04518412426114082,
        -11.758071899414062,
        4.331930160522461,
        11.07399845123291,
        -0.034479159861803055,
        2.1300928592681885,
        -0.29429855942726135,
        0.5307134389877319,
        1.3248586654663086,
        0.1226312667131424,
        0.16472266614437103,
        0.8912167549133301,
        -0.5120489001274109,
        -2.2840468883514404,
        1.9008152484893799,
        -2.052046298980713,
        0.758735716342926,
        1.7902555465698242,
        -0.09282681345939636,
        0.29932311177253723,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.3364042043685913,
        0.4286803901195526,
        1.2382996082305908,
        0.08828219026327133,
        0.11107632517814636,
        0.8666044473648071,
        -0.4100376069545746,
        -2.8272953033447266,
        1.9840577840805054,
        -2.2475476264953613,
        0.8971574902534485,
        1.8306224346160889,
        0.12186954915523529,
        0.3124786913394928
      ],
      "target_rad": [
        -0.3364042043685913,
        0.34138038754463196,
        0.7803996205329895,
        0.08338218927383423,
        0.56407630443573,
        1.2157044410705566,
        -0.06093761324882507,
        -2.8272953033447266,
        1.9840577840805054,
        -2.2475476264953613,
        0.9844574928283691,
        2.288522481918335,
        0.1267695426940918,
        -0.1405213177204132
      ],
      "elapsed_seconds": 8.421699749305844e-05
    },
    {
      "call": 126,
      "physics_step": 504,
      "sim_time_s": 2.5199999999999685,
      "observation": [
        1.8648592233657837,
        -0.5967994332313538,
        -6.829052925109863,
        -0.9790899157524109,
        -0.11116812378168106,
        0.17036588490009308,
        0.024378670379519463,
        0.24198001623153687,
        0.48935848474502563,
        0.16064375638961792,
        0.03273956850171089,
        0.1302451193332672,
        -0.28006863594055176,
        -1.069564700126648,
        0.44395413994789124,
        -0.6244814991950989,
        0.32090792059898376,
        0.7858893275260925,
        -0.07239439338445663,
        0.029749048873782158,
        -1.7984076738357544,
        1.5936522483825684,
        5.331875801086426,
        2.094836950302124,
        -0.4879711866378784,
        4.162189960479736,
        -0.5964293479919434,
        -11.85155200958252,
        0.036919184029102325,
        -0.5780660510063171,
        6.028148174285889,
        10.923633575439453,
        1.2171235084533691,
        2.4689536094665527,
        -0.3364042043685913,
        0.4286803901195526,
        1.2382996082305908,
        0.08828219026327133,
        0.11107632517814636,
        0.8666044473648071,
        -0.4100376069545746,
        -2.8272953033447266,
        1.9840577840805054,
        -2.2475476264953613,
        0.8971574902534485,
        1.8306224346160889,
        0.12186954915523529,
        0.3124786913394928,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.40025827288627625,
        0.27188077569007874,
        1.2995110750198364,
        0.24501198530197144,
        0.10306037962436676,
        1.111771583557129,
        -0.2778265178203583,
        -3.50597882270813,
        2.2264516353607178,
        -3.211695909500122,
        1.316236138343811,
        1.863294243812561,
        0.3308013677597046,
        0.47071361541748047
      ],
      "target_rad": [
        -0.40025827288627625,
        0.18458077311515808,
        0.8416110873222351,
        0.24011199176311493,
        0.5560603737831116,
        1.4608715772628784,
        0.07127347588539124,
        -3.50597882270813,
        2.2264516353607178,
        -3.211695909500122,
        1.403536081314087,
        2.3211941719055176,
        0.3357013761997223,
        0.017713606357574463
      ],
      "elapsed_seconds": 7.14959460310638e-05
    },
    {
      "call": 127,
      "physics_step": 508,
      "sim_time_s": 2.539999999999968,
      "observation": [
        1.028539776802063,
        3.272490978240967,
        -1.6912411451339722,
        -0.9647461771965027,
        -0.20196634531021118,
        0.16874364018440247,
        -0.01654275506734848,
        0.2596408426761627,
        0.5782502293586731,
        0.2140650749206543,
        0.022323306649923325,
        0.2192675769329071,
        -0.2777559161186218,
        -1.3280682563781738,
        0.4449421465396881,
        -0.5976436734199524,
        0.34321120381355286,
        0.9979180693626404,
        -0.02998269535601139,
        0.08926612138748169,
        -1.8180240392684937,
        0.911622941493988,
        4.3496809005737305,
        2.691044330596924,
        -0.37258026003837585,
        4.184950351715088,
        0.6643334031105042,
        -12.477801322937012,
        0.04904049262404442,
        1.7256168127059937,
        -0.3202831745147705,
        10.695947647094727,
        2.2705557346343994,
        3.2547671794891357,
        -0.40025827288627625,
        0.27188077569007874,
        1.2995110750198364,
        0.24501198530197144,
        0.10306037962436676,
        1.111771583557129,
        -0.2778265178203583,
        -3.50597882270813,
        2.2264516353607178,
        -3.211695909500122,
        1.316236138343811,
        1.863294243812561,
        0.3308013677597046,
        0.47071361541748047,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.0819806233048439,
        0.4814220368862152,
        1.224957823753357,
        0.24619773030281067,
        -0.03192584216594696,
        0.691442608833313,
        -0.36590608954429626,
        -2.8469958305358887,
        1.9095529317855835,
        -2.4115118980407715,
        0.8034687042236328,
        1.5112602710723877,
        0.22184406220912933,
        0.1741059273481369
      ],
      "target_rad": [
        -0.0819806233048439,
        0.39412203431129456,
        0.7670578360557556,
        0.24129773676395416,
        0.42107415199279785,
        1.0405426025390625,
        -0.016806095838546753,
        -2.8469958305358887,
        1.9095529317855835,
        -2.4115118980407715,
        0.8907687067985535,
        1.9691603183746338,
        0.22674405574798584,
        -0.2788940668106079
      ],
      "elapsed_seconds": 7.523602107539773e-05
    },
    {
      "call": 128,
      "physics_step": 512,
      "sim_time_s": 2.5599999999999676,
      "observation": [
        -0.3703296482563019,
        2.491946220397949,
        2.277909755706787,
        -0.9802733659744263,
        -0.17092376947402954,
        0.09924335777759552,
        -0.01925511285662651,
        0.2974236309528351,
        0.6282244920730591,
        0.2826891243457794,
        9.531887917546555e-05,
        0.2724429666996002,
        -0.2626287639141083,
        -1.5473744869232178,
        0.4449523389339447,
        -0.5685809850692749,
        0.3275260925292969,
        1.1609508991241455,
        0.010820908471941948,
        0.14100788533687592,
        0.68861323595047,
        2.252368688583374,
        1.3785817623138428,
        3.8235297203063965,
        -1.5258327722549438,
        1.6845780611038208,
        0.949317991733551,
        -10.283163070678711,
        -0.007225766312330961,
        1.2133898735046387,
        -0.8156536817550659,
        4.482999324798584,
        1.831714391708374,
        2.232431411743164,
        -0.0819806233048439,
        0.4814220368862152,
        1.224957823753357,
        0.24619773030281067,
        -0.03192584216594696,
        0.691442608833313,
        -0.36590608954429626,
        -2.8469958305358887,
        1.9095529317855835,
        -2.4115118980407715,
        0.8034687042236328,
        1.5112602710723877,
        0.22184406220912933,
        0.1741059273481369,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.08187428116798401,
        0.6930881142616272,
        1.3474640846252441,
        0.30455487966537476,
        0.10048900544643402,
        0.5701581239700317,
        -0.6442598700523376,
        -2.2796518802642822,
        1.9178115129470825,
        -2.4371654987335205,
        0.6511078476905823,
        1.4903289079666138,
        0.0978197529911995,
        0.240276038646698
      ],
      "target_rad": [
        -0.08187428116798401,
        0.6057881116867065,
        0.8895640969276428,
        0.29965487122535706,
        0.5534890294075012,
        0.9192581176757812,
        -0.29515987634658813,
        -2.2796518802642822,
        1.9178115129470825,
        -2.4371654987335205,
        0.7384078502655029,
        1.9482288360595703,
        0.1027197539806366,
        -0.212723970413208
      ],
      "elapsed_seconds": 6.841501453891397e-05
    },
    {
      "call": 129,
      "physics_step": 516,
      "sim_time_s": 2.579999999999967,
      "observation": [
        -0.46804916858673096,
        1.9428002834320068,
        2.357659101486206,
        -0.9901960492134094,
        -0.12573115527629852,
        0.06085606664419174,
        -0.007846775464713573,
        0.35190168023109436,
        0.6749356985092163,
        0.3450544774532318,
        -0.01880825310945511,
        0.2979141175746918,
        -0.264095276594162,
        -1.726038932800293,
        0.44474342465400696,
        -0.5514477491378784,
        0.3142901062965393,
        1.1670022010803223,
        0.03643294423818588,
        0.17888781428337097,
        0.37144479155540466,
        2.867220163345337,
        3.112963914871216,
        2.5291953086853027,
        -0.5336807370185852,
        1.3189727067947388,
        -0.7096238136291504,
        -8.336653709411621,
        -0.011328734457492828,
        0.6713401079177856,
        -0.5521283149719238,
        -0.8353615999221802,
        1.0615099668502808,
        1.6818393468856812,
        -0.08187428116798401,
        0.6930881142616272,
        1.3474640846252441,
        0.30455487966537476,
        0.10048900544643402,
        0.5701581239700317,
        -0.6442598700523376,
        -2.2796518802642822,
        1.9178115129470825,
        -2.4371654987335205,
        0.6511078476905823,
        1.4903289079666138,
        0.0978197529911995,
        0.240276038646698,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.060917410999536514,
        0.6838787794113159,
        1.3631545305252075,
        0.3428710103034973,
        0.10934560000896454,
        0.5932415723800659,
        -0.7193803191184998,
        -2.2434611320495605,
        1.8867201805114746,
        -2.4969005584716797,
        0.6908867955207825,
        1.5491150617599487,
        0.04628162831068039,
        0.2314421534538269
      ],
      "target_rad": [
        -0.060917410999536514,
        0.5965787768363953,
        0.9052545428276062,
        0.3379710018634796,
        0.5623456239700317,
        0.9423415660858154,
        -0.37028032541275024,
        -2.2434611320495605,
        1.8867201805114746,
        -2.4969005584716797,
        0.7781867980957031,
        2.0070149898529053,
        0.05118162930011749,
        -0.2215578556060791
      ],
      "elapsed_seconds": 0.00011828995775431395
    },
    {
      "call": 130,
      "physics_step": 520,
      "sim_time_s": 2.599999999999967,
      "observation": [
        -0.3462396562099457,
        1.7569829225540161,
        1.3158341646194458,
        -0.996083676815033,
        -0.08675689250230789,
        0.017044413834810257,
        -0.0021492086816579103,
        0.4109145402908325,
        0.7485107779502869,
        0.3858455419540405,
        -0.02151675336062908,
        0.3247552216053009,
        -0.29658859968185425,
        -1.870473027229309,
        0.4445660412311554,
        -0.5424301028251648,
        0.3066525459289551,
        1.146155834197998,
        0.051263753324747086,
        0.20521055161952972,
        0.5592904686927795,
        3.035644054412842,
        3.143731117248535,
        2.2808053493499756,
        -0.19615450501441956,
        0.9901476502418518,
        -1.9112037420272827,
        -6.266629695892334,
        -0.001176757155917585,
        0.3387346863746643,
        -0.28901800513267517,
        -0.993930459022522,
        0.6380999088287354,
        1.1017704010009766,
        -0.060917410999536514,
        0.6838787794113159,
        1.3631545305252075,
        0.3428710103034973,
        0.10934560000896454,
        0.5932415723800659,
        -0.7193803191184998,
        -2.2434611320495605,
        1.8867201805114746,
        -2.4969005584716797,
        0.6908867955207825,
        1.5491150617599487,
        0.04628162831068039,
        0.2314421534538269,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.10242365300655365,
        0.6396763324737549,
        1.388427734375,
        0.3577764928340912,
        0.12844331562519073,
        0.6820899248123169,
        -0.7516193985939026,
        -2.4330568313598633,
        1.9230544567108154,
        -2.736340045928955,
        0.8359289169311523,
        1.6219217777252197,
        0.07926556468009949,
        0.2895205616950989
      ],
      "target_rad": [
        -0.10242365300655365,
        0.5523763298988342,
        0.9305277466773987,
        0.3528764843940735,
        0.5814433097839355,
        1.0311899185180664,
        -0.4025194048881531,
        -2.4330568313598633,
        1.9230544567108154,
        -2.736340045928955,
        0.923228919506073,
        2.079821825027466,
        0.08416556566953659,
        -0.16347944736480713
      ],
      "elapsed_seconds": 6.0565012972801924e-05
    },
    {
      "call": 131,
      "physics_step": 524,
      "sim_time_s": 2.6199999999999664,
      "observation": [
        -0.39701545238494873,
        2.4007108211517334,
        1.0159332752227783,
        -0.9974344968795776,
        -0.0684654489159584,
        -0.02090245857834816,
        0.00970226339995861,
        0.4680098295211792,
        0.8099679350852966,
        0.42819884419441223,
        -0.021312914788722992,
        0.3438754379749298,
        -0.3421666920185089,
        -1.9800046682357788,
        0.44462302327156067,
        -0.5379012823104858,
        0.30299121141433716,
        1.1315075159072876,
        0.06186442822217941,
        0.22505143284797668,
        0.35141798853874207,
        2.6774885654449463,
        3.532693862915039,
        1.6578422784805298,
        0.27412423491477966,
        1.222383737564087,
        -2.6063039302825928,
        -5.268621444702148,
        -0.0016089867567643523,
        0.17432808876037598,
        -0.13798251748085022,
        -0.5779440402984619,
        0.4259081780910492,
        0.9330214858055115,
        -0.10242365300655365,
        0.6396763324737549,
        1.388427734375,
        0.3577764928340912,
        0.12844331562519073,
        0.6820899248123169,
        -0.7516193985939026,
        -2.4330568313598633,
        1.9230544567108154,
        -2.736340045928955,
        0.8359289169311523,
        1.6219217777252197,
        0.07926556468009949,
        0.2895205616950989,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.10747873038053513,
        0.5824970006942749,
        1.3077208995819092,
        0.3760893940925598,
        0.10770230740308762,
        0.6384022235870361,
        -0.7345638275146484,
        -2.5662403106689453,
        1.8829580545425415,
        -2.7651150226593018,
        0.8398611545562744,
        1.608377456665039,
        0.14108647406101227,
        0.2599077820777893
      ],
      "target_rad": [
        -0.10747873038053513,
        0.49519699811935425,
        0.8498209118843079,
        0.3711893856525421,
        0.5607023239135742,
        0.9875022172927856,
        -0.3854638338088989,
        -2.5662403106689453,
        1.8829580545425415,
        -2.7651150226593018,
        0.9271611571311951,
        2.066277503967285,
        0.14598646759986877,
        -0.1930922269821167
      ],
      "elapsed_seconds": 8.645700290799141e-05
    },
    {
      "call": 132,
      "physics_step": 528,
      "sim_time_s": 2.639999999999966,
      "observation": [
        0.3515843451023102,
        2.1104896068573,
        -0.08288317918777466,
        -0.9960715174674988,
        -0.06102974712848663,
        -0.06416279822587967,
        0.02166598103940487,
        0.4905959367752075,
        0.8620583415031433,
        0.4663883447647095,
        -0.018171265721321106,
        0.3628285229206085,
        -0.3958423435688019,
        -2.0729217529296875,
        0.4446318447589874,
        -0.5356847643852234,
        0.3013267517089844,
        1.1234736442565918,
        0.0728895515203476,
        0.2395843118429184,
        0.7763203382492065,
        0.10403645038604736,
        2.06054949760437,
        2.0477664470672607,
        0.0796719416975975,
        0.800846517086029,
        -2.704075574874878,
        -4.257517337799072,
        0.0039379894733428955,
        0.08044677972793579,
        -0.05830821022391319,
        -0.3136095106601715,
        0.6044874787330627,
        0.6141471266746521,
        -0.10747873038053513,
        0.5824970006942749,
        1.3077208995819092,
        0.3760893940925598,
        0.10770230740308762,
        0.6384022235870361,
        -0.7345638275146484,
        -2.5662403106689453,
        1.8829580545425415,
        -2.7651150226593018,
        0.8398611545562744,
        1.608377456665039,
        0.14108647406101227,
        0.2599077820777893,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.22555191814899445,
        0.5135840177536011,
        1.3646644353866577,
        0.38415512442588806,
        0.09744302928447723,
        0.8163220882415771,
        -0.726330041885376,
        -2.897043228149414,
        1.9267358779907227,
        -3.1444594860076904,
        1.0819966793060303,
        1.6808295249938965,
        0.2611330449581146,
        0.38069385290145874
      ],
      "target_rad": [
        -0.22555191814899445,
        0.4262840151786804,
        0.9067644476890564,
        0.37925511598587036,
        0.5504430532455444,
        1.1654220819473267,
        -0.37723004817962646,
        -2.897043228149414,
        1.9267358779907227,
        -3.1444594860076904,
        1.1692967414855957,
        2.1387295722961426,
        0.2660330533981323,
        -0.07230615615844727
      ],
      "elapsed_seconds": 7.530598668381572e-05
    },
    {
      "call": 133,
      "physics_step": 532,
      "sim_time_s": 2.6599999999999655,
      "observation": [
        0.20737186074256897,
        3.0909810066223145,
        0.6130361557006836,
        -0.9917796850204468,
        -0.0587344653904438,
        -0.11368070542812347,
        0.031145554035902023,
        0.4848884344100952,
        0.9005903005599976,
        0.5029006004333496,
        -0.015741020441055298,
        0.3848702907562256,
        -0.44592854380607605,
        -2.1643905639648438,
        0.44477400183677673,
        -0.5345557928085327,
        0.300903856754303,
        1.1195443868637085,
        0.09131483733654022,
        0.25609511137008667,
        0.057989079505205154,
        -0.35697394609451294,
        2.317673921585083,
        1.3489052057266235,
        0.28390365839004517,
        1.4931317567825317,
        -2.520674705505371,
        -4.943016529083252,
        0.0013816599966958165,
        0.04615700989961624,
        -0.01184764876961708,
        -0.13925060629844666,
        1.0325207710266113,
        0.9271541833877563,
        -0.22555191814899445,
        0.5135840177536011,
        1.3646644353866577,
        0.38415512442588806,
        0.09744302928447723,
        0.8163220882415771,
        -0.726330041885376,
        -2.897043228149414,
        1.9267358779907227,
        -3.1444594860076904,
        1.0819966793060303,
        1.6808295249938965,
        0.2611330449581146,
        0.38069385290145874,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.22957652807235718,
        0.4664733409881592,
        1.2588813304901123,
        0.38537582755088806,
        0.03946609050035477,
        0.7324188947677612,
        -0.6892523169517517,
        -2.9748477935791016,
        1.8401893377304077,
        -3.064469814300537,
        1.0267597436904907,
        1.6011159420013428,
        0.351840615272522,
        0.3352242410182953
      ],
      "target_rad": [
        -0.22957652807235718,
        0.3791733384132385,
        0.800981342792511,
        0.38047581911087036,
        0.4924660921096802,
        1.0815188884735107,
        -0.3401523232460022,
        -2.9748477935791016,
        1.8401893377304077,
        -3.064469814300537,
        1.1140596866607666,
        2.059015989303589,
        0.3567406237125397,
        -0.11777576804161072
      ],
      "elapsed_seconds": 5.940499249845743e-05
    },
    {
      "call": 134,
      "physics_step": 536,
      "sim_time_s": 2.679999999999965,
      "observation": [
        0.687921404838562,
        2.930370569229126,
        0.44767075777053833,
        -0.9847357273101807,
        -0.058344174176454544,
        -0.16398634016513824,
        0.0369456522166729,
        0.47878172993659973,
        0.9209186434745789,
        0.5378998517990112,
        -0.018175587058067322,
        0.40753433108329773,
        -0.4884043335914612,
        -2.259870767593384,
        0.44480353593826294,
        -0.5340158939361572,
        0.300811231136322,
        1.1174379587173462,
        0.12140198796987534,
        0.2731616199016571,
        -0.019996415823698044,
        -0.26112082600593567,
        1.1484448909759521,
        1.3464139699935913,
        -0.0714687779545784,
        1.3066920042037964,
        -2.092519521713257,
        -5.017683982849121,
        -0.008251331746578217,
        0.024041105061769485,
        -0.00818261131644249,
        -0.07435569167137146,
        1.6517964601516724,
        0.8186310529708862,
        -0.22957652807235718,
        0.4664733409881592,
        1.2588813304901123,
        0.38537582755088806,
        0.03946609050035477,
        0.7324188947677612,
        -0.6892523169517517,
        -2.9748477935791016,
        1.8401893377304077,
        -3.064469814300537,
        1.0267597436904907,
        1.6011159420013428,
        0.351840615272522,
        0.3352242410182953,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.34476402401924133,
        0.3826209604740143,
        1.356450080871582,
        0.37592294812202454,
        -0.023016400635242462,
        0.906501293182373,
        -0.6895051002502441,
        -3.1061389446258545,
        1.8269070386886597,
        -3.2906339168548584,
        1.2107919454574585,
        1.6362019777297974,
        0.4391167461872101,
        0.4387783110141754
      ],
      "target_rad": [
        -0.34476402401924133,
        0.29532095789909363,
        0.8985500931739807,
        0.37102293968200684,
        0.42998361587524414,
        1.2556012868881226,
        -0.34040510654449463,
        -3.1061389446258545,
        1.8269070386886597,
        -3.2906339168548584,
        1.2980918884277344,
        2.094101905822754,
        0.4440167546272278,
        -0.01422169804573059
      ],
      "elapsed_seconds": 9.69769898802042e-05
    },
    {
      "call": 135,
      "physics_step": 540,
      "sim_time_s": 2.6999999999999647,
      "observation": [
        1.2459146976470947,
        2.9369711875915527,
        0.2512536644935608,
        -0.9745064973831177,
        -0.060029614716768265,
        -0.21617929637432098,
        0.03413359075784683,
        0.4729999303817749,
        0.9323781132698059,
        0.5684252381324768,
        -0.027715209871530533,
        0.4350654184818268,
        -0.5211648344993591,
        -2.358776092529297,
        0.44480207562446594,
        -0.5337384343147278,
        0.3010498583316803,
        1.1163979768753052,
        0.16344517469406128,
        0.2937227487564087,
        -0.4211724102497101,
        -0.3449583053588867,
        0.6637701392173767,
        1.3068314790725708,
        -0.5475629568099976,
        1.5752698183059692,
        -1.4856371879577637,
        -5.052513599395752,
        -0.0032583449501544237,
        0.012442833743989468,
        0.012542633339762688,
        -0.03427307680249214,
        2.2655065059661865,
        1.1255955696105957,
        -0.34476402401924133,
        0.3826209604740143,
        1.356450080871582,
        0.37592294812202454,
        -0.023016400635242462,
        0.906501293182373,
        -0.6895051002502441,
        -3.1061389446258545,
        1.8269070386886597,
        -3.2906339168548584,
        1.2107919454574585,
        1.6362019777297974,
        0.4391167461872101,
        0.4387783110141754,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.4603461027145386,
        0.2601539194583893,
        1.4126192331314087,
        0.3583369851112366,
        -0.1222037822008133,
        1.067164659500122,
        -0.6287440061569214,
        -3.34244704246521,
        1.7775654792785645,
        -3.521987199783325,
        1.3839936256408691,
        1.6447021961212158,
        0.556602954864502,
        0.5372204780578613
      ],
      "target_rad": [
        -0.4603461027145386,
        0.17285391688346863,
        0.9547192454338074,
        0.35343697667121887,
        0.3307962417602539,
        1.4162646532058716,
        -0.2796440124511719,
        -3.34244704246521,
        1.7775654792785645,
        -3.521987199783325,
        1.4712936878204346,
        2.102602243423462,
        0.5615029335021973,
        0.08422046899795532
      ],
      "elapsed_seconds": 0.00010344799375161529
    },
    {
      "call": 136,
      "physics_step": 544,
      "sim_time_s": 2.7199999999999642,
      "observation": [
        1.8608980178833008,
        3.0506162643432617,
        0.2862533628940582,
        -0.9609432220458984,
        -0.06651731580495834,
        -0.26863276958465576,
        0.020884588360786438,
        0.4599422514438629,
        0.9391652345657349,
        0.5962772369384766,
        -0.04909863695502281,
        0.47205454111099243,
        -0.5383144021034241,
        -2.4638922214508057,
        0.44480079412460327,
        -0.533595621585846,
        0.3016054332256317,
        1.1158971786499023,
        0.21865777671337128,
        0.32311224937438965,
        -0.9976046681404114,
        -0.8553997874259949,
        0.5381151437759399,
        1.1350395679473877,
        -1.1950689554214478,
        2.1409146785736084,
        -0.6299083232879639,
        -5.496278285980225,
        -0.0051267435774207115,
        0.007642136886715889,
        0.025411110371351242,
        -0.013997336849570274,
        2.9388656616210938,
        1.6279113292694092,
        -0.4603461027145386,
        0.2601539194583893,
        1.4126192331314087,
        0.3583369851112366,
        -0.1222037822008133,
        1.067164659500122,
        -0.6287440061569214,
        -3.34244704246521,
        1.7775654792785645,
        -3.521987199783325,
        1.3839936256408691,
        1.6447021961212158,
        0.556602954864502,
        0.5372204780578613,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.5403479337692261,
        0.15171998739242554,
        1.4427790641784668,
        0.33892908692359924,
        -0.22464534640312195,
        1.2187427282333374,
        -0.5790424942970276,
        -3.606761932373047,
        1.701980471611023,
        -3.748373508453369,
        1.5428271293640137,
        1.6337001323699951,
        0.6762393116950989,
        0.6034346222877502
      ],
      "target_rad": [
        -0.5403479337692261,
        0.06441998481750488,
        0.9848790764808655,
        0.33402907848358154,
        0.22835466265678406,
        1.567842721939087,
        -0.22994250059127808,
        -3.606761932373047,
        1.701980471611023,
        -3.748373508453369,
        1.630127191543579,
        2.091600179672241,
        0.6811392903327942,
        0.15043461322784424
      ],
      "elapsed_seconds": 8.830695878714323e-05
    },
    {
      "call": 137,
      "physics_step": 548,
      "sim_time_s": 2.739999999999964,
      "observation": [
        3.2170846462249756,
        2.2222700119018555,
        -1.029667854309082,
        -0.9440670609474182,
        -0.08194156736135483,
        -0.31941038370132446,
        -0.0042322613298892975,
        0.4348532557487488,
        0.9436939358711243,
        0.6211729645729065,
        -0.08526711165904999,
        0.5218167304992676,
        -0.5389477014541626,
        -2.584444522857666,
        0.4447070360183716,
        -0.5335635542869568,
        0.30236199498176575,
        1.115538239479065,
        0.2878440022468567,
        0.36157846450805664,
        -1.3146308660507202,
        -1.4262480735778809,
        -0.12032660096883774,
        1.4503720998764038,
        -2.1636786460876465,
        2.5968339443206787,
        0.2836689054965973,
        -6.276955604553223,
        -0.008461393415927887,
        -0.0036440188996493816,
        0.03953704237937927,
        -0.02052535116672516,
        3.742316246032715,
        2.0296144485473633,
        -0.5403479337692261,
        0.15171998739242554,
        1.4427790641784668,
        0.33892908692359924,
        -0.22464534640312195,
        1.2187427282333374,
        -0.5790424942970276,
        -3.606761932373047,
        1.701980471611023,
        -3.748373508453369,
        1.5428271293640137,
        1.6337001323699951,
        0.6762393116950989,
        0.6034346222877502,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.7925944328308105,
        -0.06341022253036499,
        1.640120267868042,
        0.33490243554115295,
        -0.3553265631198883,
        1.5880142450332642,
        -0.48652735352516174,
        -4.214263439178467,
        1.7112598419189453,
        -4.414096832275391,
        1.927242398262024,
        1.776361346244812,
        0.8141852021217346,
        0.8420361876487732
      ],
      "target_rad": [
        -0.7925944328308105,
        -0.15071022510528564,
        1.182220220565796,
        0.33000242710113525,
        0.0976734459400177,
        1.9371142387390137,
        -0.13742735981941223,
        -4.214263439178467,
        1.7112598419189453,
        -4.414096832275391,
        2.0145423412323,
        2.2342612743377686,
        0.8190851807594299,
        0.3890361785888672
      ],
      "elapsed_seconds": 0.0001467310357838869
    },
    {
      "call": 138,
      "physics_step": 552,
      "sim_time_s": 2.7599999999999634,
      "observation": [
        3.447023391723633,
        3.3023741245269775,
        0.8907149434089661,
        -0.9210494160652161,
        -0.08459948003292084,
        -0.3801458775997162,
        -0.05146241560578346,
        0.3888799250125885,
        0.963279664516449,
        0.6378381252288818,
        -0.13520070910453796,
        0.5955992341041565,
        -0.5194300413131714,
        -2.742327928543091,
        0.44469326734542847,
        -0.5334357619285583,
        0.30345433950424194,
        1.1157227754592896,
        0.3694734573364258,
        0.4179287850856781,
        -2.4540932178497314,
        -2.5493128299713135,
        0.5642242431640625,
        1.3001025915145874,
        -2.9611194133758545,
        3.8097472190856934,
        1.4610068798065186,
        -8.331860542297363,
        0.01358903106302023,
        0.000409332278650254,
        0.06316588073968887,
        -0.004077018238604069,
        4.347559928894043,
        3.1443209648132324,
        -0.7925944328308105,
        -0.06341022253036499,
        1.640120267868042,
        0.33490243554115295,
        -0.3553265631198883,
        1.5880142450332642,
        -0.48652735352516174,
        -4.214263439178467,
        1.7112598419189453,
        -4.414096832275391,
        1.927242398262024,
        1.776361346244812,
        0.8141852021217346,
        0.8420361876487732,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.7188551425933838,
        -0.11663360893726349,
        1.4599233865737915,
        0.2856512665748596,
        -0.4604237973690033,
        1.5316146612167358,
        -0.4796226918697357,
        -4.425806045532227,
        1.5065760612487793,
        -4.331099510192871,
        1.8717772960662842,
        1.5600049495697021,
        0.967328667640686,
        0.7328982949256897
      ],
      "target_rad": [
        -0.7188551425933838,
        -0.20393361151218414,
        1.002023458480835,
        0.2807512581348419,
        -0.00742378830909729,
        1.8807146549224854,
        -0.1305226981639862,
        -4.425806045532227,
        1.5065760612487793,
        -4.331099510192871,
        1.9590773582458496,
        2.0179049968719482,
        0.9722286462783813,
        0.2798982858657837
      ],
      "elapsed_seconds": 0.00011111900676041842
    },
    {
      "call": 139,
      "physics_step": 556,
      "sim_time_s": 2.779999999999963,
      "observation": [
        6.028601169586182,
        0.3855893313884735,
        -2.1329212188720703,
        -0.9080181121826172,
        -0.14346528053283691,
        -0.39359980821609497,
        -0.10872364789247513,
        0.32905471324920654,
        0.9712790846824646,
        0.6582776308059692,
        -0.20460711419582367,
        0.6415945291519165,
        -0.4546999931335449,
        -2.8667263984680176,
        0.4428102374076843,
        -0.5334464311599731,
        0.3043224513530731,
        1.1154249906539917,
        0.4695395827293396,
        0.47920507192611694,
        -3.4789857864379883,
        -3.304875612258911,
        1.0622748136520386,
        0.2864628732204437,
        -3.438499927520752,
        1.4680894613265991,
        4.44910192489624,
        -4.134604454040527,
        -0.15810367465019226,
        0.00236441008746624,
        0.029378222301602364,
        -0.005391593091189861,
        5.214876651763916,
        2.9890363216400146,
        -0.7188551425933838,
        -0.11663360893726349,
        1.4599233865737915,
        0.2856512665748596,
        -0.4604237973690033,
        1.5316146612167358,
        -0.4796226918697357,
        -4.425806045532227,
        1.5065760612487793,
        -4.331099510192871,
        1.8717772960662842,
        1.5600049495697021,
        0.967328667640686,
        0.7328982949256897,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9834756851196289,
        -0.46597617864608765,
        1.758004069328308,
        0.4203033745288849,
        -0.7077602744102478,
        2.2008063793182373,
        -0.34495577216148376,
        -5.2432122230529785,
        1.603083610534668,
        -5.244872570037842,
        2.34352445602417,
        1.6290656328201294,
        0.9824748039245605,
        1.0783843994140625
      ],
      "target_rad": [
        -0.9834756851196289,
        -0.5532761812210083,
        1.3001041412353516,
        0.4154033660888672,
        -0.2547602653503418,
        2.5499062538146973,
        0.004144221544265747,
        -5.2432122230529785,
        1.603083610534668,
        -5.244872570037842,
        2.4308245182037354,
        2.086965560913086,
        0.9873747825622559,
        0.6253843903541565
      ],
      "elapsed_seconds": 0.00010530801955610514
    },
    {
      "call": 140,
      "physics_step": 560,
      "sim_time_s": 2.7999999999999625,
      "observation": [
        5.843597888946533,
        2.209526538848877,
        -1.7936701774597168,
        -0.8894396424293518,
        -0.22754117846488953,
        -0.3963862955570221,
        -0.20588324964046478,
        0.23854456841945648,
        1.0282208919525146,
        0.6504855155944824,
        -0.2822215259075165,
        0.6838325262069702,
        -0.3624975085258484,
        -2.9489240646362305,
        0.43935859203338623,
        -0.533337414264679,
        0.3049567937850952,
        1.1155177354812622,
        0.572320282459259,
        0.555738627910614,
        -5.543131351470947,
        -5.0634307861328125,
        3.750311851501465,
        -0.7598026394844055,
        -4.043354511260986,
        2.3118977546691895,
        4.330813407897949,
        -4.194864273071289,
        -0.3478330969810486,
        0.006094455253332853,
        0.028870239853858948,
        0.006476381327956915,
        5.024855613708496,
        4.199105739593506,
        -0.9834756851196289,
        -0.46597617864608765,
        1.758004069328308,
        0.4203033745288849,
        -0.7077602744102478,
        2.2008063793182373,
        -0.34495577216148376,
        -5.2432122230529785,
        1.603083610534668,
        -5.244872570037842,
        2.34352445602417,
        1.6290656328201294,
        0.9824748039245605,
        1.0783843994140625,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.738179624080658,
        -0.460864782333374,
        1.4343637228012085,
        0.27653443813323975,
        -0.7659479975700378,
        2.0034146308898926,
        -0.2834291160106659,
        -5.4499664306640625,
        1.2984126806259155,
        -4.977555751800537,
        2.1776814460754395,
        1.3637959957122803,
        1.1880648136138916,
        0.9185821413993835
      ],
      "target_rad": [
        -0.738179624080658,
        -0.5481647849082947,
        0.9764637351036072,
        0.27163442969322205,
        -0.31294798851013184,
        2.3525147438049316,
        0.06567087769508362,
        -5.4499664306640625,
        1.2984126806259155,
        -4.977555751800537,
        2.264981508255005,
        1.8216960430145264,
        1.192964792251587,
        0.46558213233947754
      ],
      "elapsed_seconds": 0.0001419620239175856
    },
    {
      "call": 141,
      "physics_step": 564,
      "sim_time_s": 2.819999999999962,
      "observation": [
        7.26497745513916,
        1.9471439123153687,
        -3.8555939197540283,
        -0.8588672876358032,
        -0.33398890495300293,
        -0.3883276879787445,
        -0.3063841760158539,
        0.13404105603694916,
        1.081785798072815,
        0.6384535431861877,
        -0.3747755289077759,
        0.71062833070755,
        -0.2840659022331238,
        -3.0001425743103027,
        0.4372628331184387,
        -0.533266007900238,
        0.3054315447807312,
        1.1148608922958374,
        0.6814411878585815,
        0.6352035999298096,
        -4.985071182250977,
        -5.403690814971924,
        2.4880528450012207,
        -0.8663294911384583,
        -4.727529048919678,
        0.544482409954071,
        2.91573429107666,
        -0.8865283131599426,
        0.05191844329237938,
        0.002721224445849657,
        0.0200791098177433,
        -0.030221007764339447,
        5.542783260345459,
        3.813180685043335,
        -0.738179624080658,
        -0.460864782333374,
        1.4343637228012085,
        0.27653443813323975,
        -0.7659479975700378,
        2.0034146308898926,
        -0.2834291160106659,
        -5.4499664306640625,
        1.2984126806259155,
        -4.977555751800537,
        2.1776814460754395,
        1.3637959957122803,
        1.1880648136138916,
        0.9185821413993835,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.8172194957733154,
        -0.5173055529594421,
        1.5503243207931519,
        0.2908528447151184,
        -0.7660146951675415,
        2.101961851119995,
        -0.17158912122249603,
        -5.621683120727539,
        1.2735462188720703,
        -5.145572185516357,
        2.2614777088165283,
        1.409692645072937,
        1.1001384258270264,
        1.0123800039291382
      ],
      "target_rad": [
        -0.8172194957733154,
        -0.6046055555343628,
        1.0924243927001953,
        0.2859528362751007,
        -0.3130146861076355,
        2.451061725616455,
        0.17751087248325348,
        -5.621683120727539,
        1.2735462188720703,
        -5.145572185516357,
        2.3487777709960938,
        1.8675925731658936,
        1.1050384044647217,
        0.5593799948692322
      ],
      "elapsed_seconds": 0.0001416809973306954
    },
    {
      "call": 142,
      "physics_step": 568,
      "sim_time_s": 2.8399999999999617,
      "observation": [
        5.576333045959473,
        3.3491387367248535,
        -4.285300254821777,
        -0.8030993342399597,
        -0.4529857039451599,
        -0.38708579540252686,
        -0.32310575246810913,
        0.03716621547937393,
        1.1227564811706543,
        0.6170293688774109,
        -0.4631012976169586,
        0.7118620872497559,
        -0.2534071207046509,
        -2.9968833923339844,
        0.43899163603782654,
        -0.533295750617981,
        0.3056510388851166,
        1.1145564317703247,
        0.7829000949859619,
        0.7104644179344177,
        1.0532125234603882,
        -4.022231578826904,
        1.705363154411316,
        -1.005607008934021,
        -4.2061309814453125,
        -0.07678545266389847,
        0.9405074715614319,
        0.425712525844574,
        0.08563683182001114,
        -0.0018122325418516994,
        0.006729891989380121,
        -0.008726200088858604,
        4.772529602050781,
        3.687835693359375,
        -0.8172194957733154,
        -0.5173055529594421,
        1.5503243207931519,
        0.2908528447151184,
        -0.7660146951675415,
        2.101961851119995,
        -0.17158912122249603,
        -5.621683120727539,
        1.2735462188720703,
        -5.145572185516357,
        2.2614777088165283,
        1.409692645072937,
        1.1001384258270264,
        1.0123800039291382,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.6882739067077637,
        -0.4169647693634033,
        1.3114899396896362,
        0.1293283849954605,
        -0.7708893418312073,
        1.768204927444458,
        -0.11713367700576782,
        -5.203810214996338,
        1.0349007844924927,
        -4.550992965698242,
        2.050154447555542,
        1.2846280336380005,
        1.0785903930664062,
        0.8502199649810791
      ],
      "target_rad": [
        -0.6882739067077637,
        -0.504264771938324,
        0.8535899519920349,
        0.12442838400602341,
        -0.31788933277130127,
        2.117304801940918,
        0.2319663166999817,
        -5.203810214996338,
        1.0349007844924927,
        -4.550992965698242,
        2.1374545097351074,
        1.742527961730957,
        1.0834903717041016,
        0.3972199559211731
      ],
      "elapsed_seconds": 0.0004133220063522458
    },
    {
      "call": 143,
      "physics_step": 572,
      "sim_time_s": 2.8599999999999612,
      "observation": [
        4.239502429962158,
        4.389678001403809,
        -4.165067195892334,
        -0.729167640209198,
        -0.5547523498535156,
        -0.4007048010826111,
        -0.28700441122055054,
        -0.028924686834216118,
        1.1457115411758423,
        0.5868824124336243,
        -0.5397247672080994,
        0.7090566158294678,
        -0.24400615692138672,
        -2.988466501235962,
        0.43989402055740356,
        -0.5333080887794495,
        0.3057268261909485,
        1.11429762840271,
        0.866725504398346,
        0.7702046632766724,
        1.9679982662200928,
        -2.980511426925659,
        0.8890738487243652,
        -1.7522953748703003,
        -3.5937702655792236,
        -0.14284299314022064,
        0.24904029071331024,
        0.37337833642959595,
        0.029882291331887245,
        -0.00018889251805376261,
        0.0027721691876649857,
        -0.01210501417517662,
        3.8457350730895996,
        2.5966293811798096,
        -0.6882739067077637,
        -0.4169647693634033,
        1.3114899396896362,
        0.1293283849954605,
        -0.7708893418312073,
        1.768204927444458,
        -0.11713367700576782,
        -5.203810214996338,
        1.0349007844924927,
        -4.550992965698242,
        2.050154447555542,
        1.2846280336380005,
        1.0785903930664062,
        0.8502199649810791,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.6788569092750549,
        -0.33592861890792847,
        1.207743525505066,
        -0.019407713785767555,
        -0.7595457434654236,
        1.5509034395217896,
        -0.08106131106615067,
        -4.781311988830566,
        0.8527830243110657,
        -4.112464904785156,
        1.9027657508850098,
        1.2307002544403076,
        0.9806866645812988,
        0.7391248345375061
      ],
      "target_rad": [
        -0.6788569092750549,
        -0.4232286214828491,
        0.7498435378074646,
        -0.02430771291255951,
        -0.3065457344055176,
        1.900003433227539,
        0.26803869009017944,
        -4.781311988830566,
        0.8527830243110657,
        -4.112464904785156,
        1.9900658130645752,
        1.6886003017425537,
        0.9855866432189941,
        0.2861248254776001
      ],
      "elapsed_seconds": 0.0013986889971420169
    },
    {
      "call": 144,
      "physics_step": 576,
      "sim_time_s": 2.879999999999961,
      "observation": [
        3.134915828704834,
        5.152131080627441,
        -4.241888999938965,
        -0.6385578513145447,
        -0.6412026286125183,
        -0.4255621135234833,
        -0.2505331337451935,
        -0.07579241693019867,
        1.1543196439743042,
        0.5386757254600525,
        -0.6026662588119507,
        0.7064491510391235,
        -0.2420649379491806,
        -2.9830641746520996,
        0.4399367868900299,
        -0.5333046317100525,
        0.3055326044559479,
        1.114040732383728,
        0.9273630380630493,
        0.8045565485954285,
        1.6924571990966797,
        -2.0020859241485596,
        0.23332805931568146,
        -2.7253026962280273,
        -2.8807177543640137,
        -0.11404720693826675,
        0.04983947053551674,
        0.21359902620315552,
        -0.0067314342595636845,
        1.6729129129089415e-05,
        -0.011792127974331379,
        -0.011655416339635849,
        2.585644006729126,
        1.2544212341308594,
        -0.6788569092750549,
        -0.33592861890792847,
        1.207743525505066,
        -0.019407713785767555,
        -0.7595457434654236,
        1.5509034395217896,
        -0.08106131106615067,
        -4.781311988830566,
        0.8527830243110657,
        -4.112464904785156,
        1.9027657508850098,
        1.2307002544403076,
        0.9806866645812988,
        0.7391248345375061,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.7203312516212463,
        -0.28756627440452576,
        1.065863013267517,
        -0.121214859187603,
        -0.7634132504463196,
        1.336276650428772,
        0.008756578899919987,
        -4.448359489440918,
        0.6810414791107178,
        -3.7211296558380127,
        1.726264238357544,
        1.0851924419403076,
        0.8790197968482971,
        0.6468948721885681
      ],
      "target_rad": [
        -0.7203312516212463,
        -0.3748662769794464,
        0.6079630255699158,
        -0.1261148601770401,
        -0.3104132413864136,
        1.6853766441345215,
        0.3578565716743469,
        -4.448359489440918,
        0.6810414791107178,
        -3.7211296558380127,
        1.8135643005371094,
        1.5430924892425537,
        0.8839197754859924,
        0.1938948631286621
      ],
      "elapsed_seconds": 8.72570089995861e-05
    },
    {
      "call": 145,
      "physics_step": 580,
      "sim_time_s": 2.8999999999999604,
      "observation": [
        2.1275856494903564,
        5.669830322265625,
        -4.605992794036865,
        -0.5298324227333069,
        -0.7153801918029785,
        -0.4555312693119049,
        -0.22401894629001617,
        -0.10282402485609055,
        1.1509621143341064,
        0.47234034538269043,
        -0.6520177125930786,
        0.7044476866722107,
        -0.2383352816104889,
        -2.9797308444976807,
        0.4394800364971161,
        -0.5333068370819092,
        0.3050321340560913,
        1.11160409450531,
        0.9609628319740295,
        0.8129161596298218,
        1.0800859928131104,
        -1.0227402448654175,
        -0.351561963558197,
        -3.5936264991760254,
        -2.2271952629089355,
        -0.08612409979104996,
        0.26656991243362427,
        0.13540589809417725,
        -0.024531541392207146,
        -0.000329498085193336,
        -0.025516772642731667,
        -0.16845954954624176,
        1.2022782564163208,
        0.01284824963659048,
        -0.7203312516212463,
        -0.28756627440452576,
        1.065863013267517,
        -0.121214859187603,
        -0.7634132504463196,
        1.336276650428772,
        0.008756578899919987,
        -4.448359489440918,
        0.6810414791107178,
        -3.7211296558380127,
        1.726264238357544,
        1.0851924419403076,
        0.8790197968482971,
        0.6468948721885681,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.6969911456108093,
        -0.22331535816192627,
        0.8406609296798706,
        -0.15854592621326447,
        -0.7562545537948608,
        1.052297592163086,
        0.043048448860645294,
        -3.9983112812042236,
        0.4985840320587158,
        -3.2526023387908936,
        1.4982571601867676,
        0.8456570506095886,
        0.7792689800262451,
        0.5632081627845764
      ],
      "target_rad": [
        -0.6969911456108093,
        -0.3106153607368469,
        0.3827609419822693,
        -0.16344591975212097,
        -0.30325454473495483,
        1.4013975858688354,
        0.3921484351158142,
        -3.9983112812042236,
        0.4985840320587158,
        -3.2526023387908936,
        1.585557222366333,
        1.30355703830719,
        0.7841689586639404,
        0.11020815372467041
      ],
      "elapsed_seconds": 7.023598300293088e-05
    },
    {
      "call": 146,
      "physics_step": 584,
      "sim_time_s": 2.91999999999996,
      "observation": [
        2.818912982940674,
        1.9564625024795532,
        -3.0862014293670654,
        -0.4392927885055542,
        -0.7740583419799805,
        -0.4559117555618286,
        -0.2065907120704651,
        -0.11282781511545181,
        1.1351513862609863,
        0.39182230830192566,
        -0.6876653432846069,
        0.7023666501045227,
        -0.22466427087783813,
        -2.9773056507110596,
        0.43870383501052856,
        -0.5336584448814392,
        0.30488455295562744,
        1.121113657951355,
        0.9474108219146729,
        0.8014358282089233,
        0.8271823525428772,
        -0.2608179450035095,
        -0.9434744119644165,
        -4.193220138549805,
        -1.525121808052063,
        -0.09510645270347595,
        0.9520277976989746,
        0.10322975367307663,
        -0.04138582944869995,
        -0.028434162959456444,
        0.012899019755423069,
        0.6018739938735962,
        -1.8197134733200073,
        -0.8409920930862427,
        -0.6969911456108093,
        -0.22331535816192627,
        0.8406609296798706,
        -0.15854592621326447,
        -0.7562545537948608,
        1.052297592163086,
        0.043048448860645294,
        -3.9983112812042236,
        0.4985840320587158,
        -3.2526023387908936,
        1.4982571601867676,
        0.8456570506095886,
        0.7792689800262451,
        0.5632081627845764,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.1527842283248901,
        -0.41790634393692017,
        1.1788115501403809,
        -0.3187909424304962,
        -0.8974819183349609,
        1.6061500310897827,
        0.11557938158512115,
        -4.648138046264648,
        0.7159255743026733,
        -4.264184474945068,
        2.1490659713745117,
        1.4258252382278442,
        1.0444939136505127,
        0.9740246534347534
      ],
      "target_rad": [
        -1.1527842283248901,
        -0.5052063465118408,
        0.7209115624427795,
        -0.3236909508705139,
        -0.44448190927505493,
        1.9552500247955322,
        0.4646793603897095,
        -4.648138046264648,
        0.7159255743026733,
        -4.264184474945068,
        2.236366033554077,
        1.8837251663208008,
        1.049393892288208,
        0.5210246443748474
      ],
      "elapsed_seconds": 7.571501191705465e-05
    },
    {
      "call": 147,
      "physics_step": 588,
      "sim_time_s": 2.9399999999999595,
      "observation": [
        3.097306966781616,
        0.9414262175559998,
        -2.6124517917633057,
        -0.38513556122779846,
        -0.8240033388137817,
        -0.4155588150024414,
        -0.22228632867336273,
        -0.1255570650100708,
        1.1218096017837524,
        0.2967531979084015,
        -0.7203410863876343,
        0.7021204829216003,
        -0.19790856540203094,
        -2.976804256439209,
        0.43846604228019714,
        -0.5339575409889221,
        0.3057578206062317,
        1.1223032474517822,
        0.9174193739891052,
        0.8005147576332092,
        -0.22456969320774078,
        -0.2649640738964081,
        -0.5433691143989563,
        -4.6872148513793945,
        -1.6631461381912231,
        0.017306597903370857,
        1.4268065690994263,
        0.0016346047632396221,
        -0.0018701982917264104,
        -0.008831877261400223,
        0.041434843093156815,
        -0.10198956727981567,
        -1.206169605255127,
        0.322954922914505,
        -1.1527842283248901,
        -0.41790634393692017,
        1.1788115501403809,
        -0.3187909424304962,
        -0.8974819183349609,
        1.6061500310897827,
        0.11557938158512115,
        -4.648138046264648,
        0.7159255743026733,
        -4.264184474945068,
        2.1490659713745117,
        1.4258252382278442,
        1.0444939136505127,
        0.9740246534347534,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.1877596378326416,
        -0.5085289478302002,
        0.9359360933303833,
        -0.4259149432182312,
        -0.9681137204170227,
        1.5401928424835205,
        0.3469315767288208,
        -5.064309597015381,
        0.6242088675498962,
        -4.249657154083252,
        2.170186758041382,
        1.372594952583313,
        1.1319048404693604,
        1.0450091361999512
      ],
      "target_rad": [
        -1.1877596378326416,
        -0.5958289504051208,
        0.478036105632782,
        -0.4308149516582489,
        -0.5151137113571167,
        1.88929283618927,
        0.6960315704345703,
        -5.064309597015381,
        0.6242088675498962,
        -4.249657154083252,
        2.2574868202209473,
        1.8304948806762695,
        1.1368048191070557,
        0.5920091271400452
      ],
      "elapsed_seconds": 8.62270244397223e-05
    },
    {
      "call": 148,
      "physics_step": 592,
      "sim_time_s": 2.959999999999959,
      "observation": [
        3.0622713565826416,
        0.838634729385376,
        -2.862527847290039,
        -0.33401554822921753,
        -0.8670569062232971,
        -0.36965644359588623,
        -0.22723354399204254,
        -0.12873399257659912,
        1.1113593578338623,
        0.19587506353855133,
        -0.7572968602180481,
        0.7025259137153625,
        -0.15998531877994537,
        -2.9770944118499756,
        0.4384452700614929,
        -0.5339713096618652,
        0.30624884366989136,
        1.1193456649780273,
        0.9094465374946594,
        0.8190060257911682,
        -1.159470558166504,
        -0.4448641836643219,
        -0.56877601146698,
        -5.313106536865234,
        -1.9216547012329102,
        0.014435441233217716,
        2.1703124046325684,
        -0.014453132636845112,
        -0.0026337371673434973,
        0.005688313860446215,
        0.01203196682035923,
        -0.14713798463344574,
        0.058943722397089005,
        1.2108718156814575,
        -1.1877596378326416,
        -0.5085289478302002,
        0.9359360933303833,
        -0.4259149432182312,
        -0.9681137204170227,
        1.5401928424835205,
        0.3469315767288208,
        -5.064309597015381,
        0.6242088675498962,
        -4.249657154083252,
        2.170186758041382,
        1.372594952583313,
        1.1319048404693604,
        1.0450091361999512,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.047945261001587,
        -0.42527756094932556,
        0.8375821113586426,
        -0.428284615278244,
        -0.9065411686897278,
        1.3045846223831177,
        0.3888914883136749,
        -4.881824493408203,
        0.6042022705078125,
        -3.9024510383605957,
        1.9535306692123413,
        1.2679107189178467,
        0.9579121470451355,
        0.9688010215759277
      ],
      "target_rad": [
        -1.047945261001587,
        -0.5125775337219238,
        0.37968212366104126,
        -0.4331846237182617,
        -0.4535411596298218,
        1.6536846160888672,
        0.737991452217102,
        -4.881824493408203,
        0.6042022705078125,
        -3.9024510383605957,
        2.040830612182617,
        1.7258107662200928,
        0.9628121256828308,
        0.5158010125160217
      ],
      "elapsed_seconds": 0.00011096900561824441
    },
    {
      "call": 149,
      "physics_step": 596,
      "sim_time_s": 2.9799999999999587,
      "observation": [
        2.0079567432403564,
        0.7174738049507141,
        -2.4798386096954346,
        -0.27387183904647827,
        -0.9034724235534668,
        -0.3297450840473175,
        -0.24940793216228485,
        -0.13549712300300598,
        1.0986098051071167,
        0.08776643872261047,
        -0.7923220992088318,
        0.702512264251709,
        -0.11100707203149796,
        -2.9773154258728027,
        0.438403844833374,
        -0.5337191820144653,
        0.3059470057487488,
        1.1166902780532837,
        0.9130907654762268,
        0.8442822098731995,
        -0.4349266588687897,
        -0.1361670345067978,
        -0.5259621739387512,
        -5.303440093994141,
        -1.639574408531189,
        0.0064925020560622215,
        2.538543939590454,
        -0.00796330627053976,
        -0.004613376222550869,
        0.024795660749077797,
        -0.03697773814201355,
        -0.13435101509094238,
        0.29677614569664,
        1.2650771141052246,
        -1.047945261001587,
        -0.42527756094932556,
        0.8375821113586426,
        -0.428284615278244,
        -0.9065411686897278,
        1.3045846223831177,
        0.3888914883136749,
        -4.881824493408203,
        0.6042022705078125,
        -3.9024510383605957,
        1.9535306692123413,
        1.2679107189178467,
        0.9579121470451355,
        0.9688010215759277,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.8709180951118469,
        -0.2860020399093628,
        0.7245655059814453,
        -0.393553763628006,
        -0.8349115252494812,
        1.045770287513733,
        0.37086644768714905,
        -4.435055732727051,
        0.6115366220474243,
        -3.4013516902923584,
        1.690659523010254,
        1.199739694595337,
        0.7715178728103638,
        0.8224621415138245
      ],
      "target_rad": [
        -0.8709180951118469,
        -0.37330204248428345,
        0.266665518283844,
        -0.3984537720680237,
        -0.3819115161895752,
        1.3948702812194824,
        0.7199664115905762,
        -4.435055732727051,
        0.6115366220474243,
        -3.4013516902923584,
        1.7779595851898193,
        1.657639741897583,
        0.7764178514480591,
        0.36946213245391846
      ],
      "elapsed_seconds": 0.00015184201765805483
    },
    {
      "call": 150,
      "physics_step": 600,
      "sim_time_s": 2.9999999999999583,
      "observation": [
        1.5180702209472656,
        0.16662392020225525,
        -0.9121652841567993,
        -0.24440526962280273,
        -0.921306848526001,
        -0.3024232089519501,
        -0.25963297486305237,
        -0.1369370073080063,
        1.0810930728912354,
        -0.012074766680598259,
        -0.8171398043632507,
        0.7020219564437866,
        -0.05748367682099342,
        -2.976794481277466,
        0.4382009208202362,
        -0.5332566499710083,
        0.30484539270401,
        1.11403226852417,
        0.9119207262992859,
        0.8601118922233582,
        -0.5526513457298279,
        -0.04038543999195099,
        -1.0375263690948486,
        -4.771646976470947,
        -1.0285701751708984,
        -0.04242947697639465,
        2.8894922733306885,
        0.040670737624168396,
        -0.017750754952430725,
        0.017134614288806915,
        -0.049740295857191086,
        -0.08914677798748016,
        -0.257091224193573,
        0.5481024384498596,
        -0.8709180951118469,
        -0.2860020399093628,
        0.7245655059814453,
        -0.393553763628006,
        -0.8349115252494812,
        1.045770287513733,
        0.37086644768714905,
        -4.435055732727051,
        0.6115366220474243,
        -3.4013516902923584,
        1.690659523010254,
        1.199739694595337,
        0.7715178728103638,
        0.8224621415138245,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.7927625179290771,
        -0.17645764350891113,
        0.7014513611793518,
        -0.3229876458644867,
        -0.7722035050392151,
        0.9457995891571045,
        0.3102276027202606,
        -4.14049768447876,
        0.7073813676834106,
        -3.2482728958129883,
        1.6095610857009888,
        1.280809998512268,
        0.7029752135276794,
        0.7565327882766724
      ],
      "target_rad": [
        -0.7927625179290771,
        -0.2637576460838318,
        0.2435513734817505,
        -0.3278876543045044,
        -0.3192034959793091,
        1.294899582862854,
        0.6593276262283325,
        -4.14049768447876,
        0.7073813676834106,
        -3.2482728958129883,
        1.6968610286712646,
        1.7387099266052246,
        0.7078751921653748,
        0.30353277921676636
      ],
      "elapsed_seconds": 6.452505476772785e-05
    },
    {
      "call": 151,
      "physics_step": 604,
      "sim_time_s": 3.019999999999958,
      "observation": [
        1.508331060409546,
        -0.02534366212785244,
        0.7272717356681824,
        -0.24686148762702942,
        -0.9291599988937378,
        -0.27517467737197876,
        -0.26203811168670654,
        -0.12931562960147858,
        1.0599507093429565,
        -0.0944657251238823,
        -0.8284177780151367,
        0.7010154724121094,
        0.002841294277459383,
        -2.9754974842071533,
        0.4380091428756714,
        -0.5330794453620911,
        0.3040323257446289,
        1.1134847402572632,
        0.8978397250175476,
        0.8619498014450073,
        -0.008728220127522945,
        0.552227258682251,
        -1.045606017112732,
        -3.7560477256774902,
        -0.32451415061950684,
        -0.04695199057459831,
        3.0555925369262695,
        0.06336186826229095,
        -0.006479899864643812,
        0.004908173810690641,
        -0.032946281135082245,
        -0.0074736434035003185,
        -0.9203254580497742,
        -0.12366460263729095,
        -0.7927625179290771,
        -0.17645764350891113,
        0.7014513611793518,
        -0.3229876458644867,
        -0.7722035050392151,
        0.9457995891571045,
        0.3102276027202606,
        -4.14049768447876,
        0.7073813676834106,
        -3.2482728958129883,
        1.6095610857009888,
        1.280809998512268,
        0.7029752135276794,
        0.7565327882766724,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.7847515940666199,
        -0.12128233909606934,
        0.7017996907234192,
        -0.2598547041416168,
        -0.7418954968452454,
        0.8886964321136475,
        0.24675478041172028,
        -3.96470308303833,
        0.7826591730117798,
        -3.233008623123169,
        1.5864797830581665,
        1.3541368246078491,
        0.6734580993652344,
        0.7556132078170776
      ],
      "target_rad": [
        -0.7847515940666199,
        -0.20858234167099,
        0.24389970302581787,
        -0.2647547125816345,
        -0.28889548778533936,
        1.237796425819397,
        0.5958547592163086,
        -3.96470308303833,
        0.7826591730117798,
        -3.233008623123169,
        1.6737797260284424,
        1.8120367527008057,
        0.6783580780029297,
        0.30261319875717163
      ],
      "elapsed_seconds": 7.453601574525237e-05
    },
    {
      "call": 152,
      "physics_step": 608,
      "sim_time_s": 3.0399999999999574,
      "observation": [
        0.9061533212661743,
        -0.1818196177482605,
        -0.7080820798873901,
        -0.23932409286499023,
        -0.9371733069419861,
        -0.2538309097290039,
        -0.2659498453140259,
        -0.1122477576136589,
        1.0416107177734375,
        -0.15692733228206635,
        -0.8278607130050659,
        0.7009903788566589,
        0.041152216494083405,
        -2.9750301837921143,
        0.4386272132396698,
        -0.5331888198852539,
        0.3036136329174042,
        1.1135965585708618,
        0.8741718530654907,
        0.854367733001709,
        -0.321805864572525,
        0.975412905216217,
        -0.8961306214332581,
        -2.759828567504883,
        0.19703194499015808,
        0.00031517643947154284,
        1.4591063261032104,
        0.025606784969568253,
        0.03063890151679516,
        -0.0036602411419153214,
        -0.01681690663099289,
        0.010228989645838737,
        -1.31653892993927,
        -0.4980766177177429,
        -0.7847515940666199,
        -0.12128233909606934,
        0.7017996907234192,
        -0.2598547041416168,
        -0.7418954968452454,
        0.8886964321136475,
        0.24675478041172028,
        -3.96470308303833,
        0.7826591730117798,
        -3.233008623123169,
        1.5864797830581665,
        1.3541368246078491,
        0.6734580993652344,
        0.7556132078170776,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.7423529028892517,
        -0.1381811648607254,
        0.681593656539917,
        -0.2702571749687195,
        -0.7457520961761475,
        0.8439757823944092,
        0.3251269459724426,
        -3.852182149887085,
        0.8648690581321716,
        -3.091212511062622,
        1.5380290746688843,
        1.3436187505722046,
        0.6231209635734558,
        0.7591440081596375
      ],
      "target_rad": [
        -0.7423529028892517,
        -0.22548116743564606,
        0.22369366884231567,
        -0.2751571834087372,
        -0.29275208711624146,
        1.1930757761001587,
        0.6742269396781921,
        -3.852182149887085,
        0.8648690581321716,
        -3.091212511062622,
        1.6253290176391602,
        1.8015186786651611,
        0.6280209422111511,
        0.30614399909973145
      ],
      "elapsed_seconds": 7.156498031690717e-05
    },
    {
      "call": 153,
      "physics_step": 612,
      "sim_time_s": 3.059999999999957,
      "observation": [
        0.5815719962120056,
        -0.2550542950630188,
        -0.5660776495933533,
        -0.2282261997461319,
        -0.9435995817184448,
        -0.23985950648784637,
        -0.2714438736438751,
        -0.09109172970056534,
        1.0249137878417969,
        -0.20186705887317657,
        -0.820522665977478,
        0.7007499933242798,
        0.06584774702787399,
        -2.974220037460327,
        0.43914270401000977,
        -0.5331867933273315,
        0.3032687306404114,
        1.1137527227401733,
        0.8426612615585327,
        0.8422946333885193,
        -0.2654767632484436,
        1.0793511867523193,
        -0.8036417961120605,
        -1.9611612558364868,
        0.44587892293930054,
        -0.01565607450902462,
        1.13582181930542,
        0.04203961417078972,
        0.020418807864189148,
        0.0015187354292720556,
        -0.01575126126408577,
        0.005666011478751898,
        -1.687843918800354,
        -0.6475442051887512,
        -0.7423529028892517,
        -0.1381811648607254,
        0.681593656539917,
        -0.2702571749687195,
        -0.7457520961761475,
        0.8439757823944092,
        0.3251269459724426,
        -3.852182149887085,
        0.8648690581321716,
        -3.091212511062622,
        1.5380290746688843,
        1.3436187505722046,
        0.6231209635734558,
        0.7591440081596375,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.7206056714057922,
        -0.12518957257270813,
        0.6553316116333008,
        -0.2545022964477539,
        -0.7256438136100769,
        0.8066682815551758,
        0.33821144700050354,
        -3.753647804260254,
        0.9013230204582214,
        -3.0282702445983887,
        1.510468602180481,
        1.3600519895553589,
        0.5972917079925537,
        0.749427855014801
      ],
      "target_rad": [
        -0.7206056714057922,
        -0.21248957514762878,
        0.19743162393569946,
        -0.2594023048877716,
        -0.2726438045501709,
        1.1557682752609253,
        0.6873114109039307,
        -3.753647804260254,
        0.9013230204582214,
        -3.0282702445983887,
        1.5977685451507568,
        1.8179519176483154,
        0.602191686630249,
        0.296427845954895
      ],
      "elapsed_seconds": 6.909499643370509e-05
    },
    {
      "call": 154,
      "physics_step": 616,
      "sim_time_s": 3.0799999999999566,
      "observation": [
        0.3158368468284607,
        -0.2826284170150757,
        -0.3415970206260681,
        -0.22112442553043365,
        -0.9474952816963196,
        -0.23099063336849213,
        -0.27684342861175537,
        -0.06899359077215195,
        1.0095487833023071,
        -0.2325313836336136,
        -0.8089813590049744,
        0.7004500031471252,
        0.08516856282949448,
        -2.9733834266662598,
        0.439546674489975,
        -0.5331363677978516,
        0.30297666788101196,
        1.1138432025909424,
        0.8060073256492615,
        0.8282994031906128,
        -0.278767466545105,
        1.105749487876892,
        -0.7354663014411926,
        -1.3001948595046997,
        0.6341869235038757,
        -0.014711539261043072,
        0.8960264921188354,
        0.0382862389087677,
        0.01662544161081314,
        0.0026836711913347244,
        -0.012953199446201324,
        0.0035707473289221525,
        -1.8826470375061035,
        -0.7161396145820618,
        -0.7206056714057922,
        -0.12518957257270813,
        0.6553316116333008,
        -0.2545022964477539,
        -0.7256438136100769,
        0.8066682815551758,
        0.33821144700050354,
        -3.753647804260254,
        0.9013230204582214,
        -3.0282702445983887,
        1.510468602180481,
        1.3600519895553589,
        0.5972917079925537,
        0.749427855014801,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.7097041606903076,
        -0.11705660820007324,
        0.6311206817626953,
        -0.23854659497737885,
        -0.7024773955345154,
        0.774317741394043,
        0.33658620715141296,
        -3.681408166885376,
        0.9226956963539124,
        -2.999075174331665,
        1.4944071769714355,
        1.3754167556762695,
        0.5853461027145386,
        0.7447425723075867
      ],
      "target_rad": [
        -0.7097041606903076,
        -0.2043566107749939,
        0.173220694065094,
        -0.24344658851623535,
        -0.24947738647460938,
        1.1234177350997925,
        0.6856862306594849,
        -3.681408166885376,
        0.9226956963539124,
        -2.999075174331665,
        1.581707239151001,
        1.8333168029785156,
        0.5902460813522339,
        0.29174256324768066
      ],
      "elapsed_seconds": 8.0186000559479e-05
    },
    {
      "call": 155,
      "physics_step": 620,
      "sim_time_s": 3.099999999999956,
      "observation": [
        0.07144314050674438,
        -0.31125572323799133,
        -0.07273095846176147,
        -0.2192402482032776,
        -0.9490039944648743,
        -0.22655057907104492,
        -0.28263571858406067,
        -0.046909671276807785,
        0.9957093000411987,
        -0.25150761008262634,
        -0.7941478490829468,
        0.700125515460968,
        0.10170993208885193,
        -2.972682237625122,
        0.4397850036621094,
        -0.5330951809883118,
        0.3027671277523041,
        1.1139191389083862,
        0.7678691148757935,
        0.8139082789421082,
        -0.2971598505973816,
        1.0931181907653809,
        -0.6575484871864319,
        -0.7613160610198975,
        0.7851572036743164,
        -0.015602593310177326,
        0.7955295443534851,
        0.030552851036190987,
        0.008849337697029114,
        0.0016541560180485249,
        -0.008510344661772251,
        0.0034887725487351418,
        -1.8959863185882568,
        -0.7112069725990295,
        -0.7097041606903076,
        -0.11705660820007324,
        0.6311206817626953,
        -0.23854659497737885,
        -0.7024773955345154,
        0.774317741394043,
        0.33658620715141296,
        -3.681408166885376,
        0.9226956963539124,
        -2.999075174331665,
        1.4944071769714355,
        1.3754167556762695,
        0.5853461027145386,
        0.7447425723075867,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.704315721988678,
        -0.11484958231449127,
        0.6104879975318909,
        -0.22270874679088593,
        -0.6774546504020691,
        0.7579144239425659,
        0.3277260363101959,
        -3.6410248279571533,
        0.9418578743934631,
        -3.007035255432129,
        1.4951146841049194,
        1.396831750869751,
        0.5852037072181702,
        0.7441707253456116
      ],
      "target_rad": [
        -0.704315721988678,
        -0.20214958488941193,
        0.15258800983428955,
        -0.22760874032974243,
        -0.22445464134216309,
        1.1070144176483154,
        0.676826000213623,
        -3.6410248279571533,
        0.9418578743934631,
        -3.007035255432129,
        1.5824146270751953,
        1.854731798171997,
        0.5901036858558655,
        0.29117071628570557
      ],
      "elapsed_seconds": 6.798497634008527e-05
    },
    {
      "call": 156,
      "physics_step": 624,
      "sim_time_s": 3.1199999999999557,
      "observation": [
        -0.1812838613986969,
        -0.3227404057979584,
        0.18053019046783447,
        -0.22231465578079224,
        -0.9482336044311523,
        -0.22678007185459137,
        -0.28839150071144104,
        -0.02561158500611782,
        0.9833394885063171,
        -0.26155149936676025,
        -0.7766139507293701,
        0.699835479259491,
        0.1165306344628334,
        -2.9721713066101074,
        0.4399133324623108,
        -0.5330761671066284,
        0.3026584982872009,
        1.114008903503418,
        0.7315776348114014,
        0.800421416759491,
        -0.2782716751098633,
        1.0405253171920776,
        -0.5931763052940369,
        -0.37560322880744934,
        0.9105372428894043,
        -0.01310715638101101,
        0.7136462330818176,
        0.02149542048573494,
        0.0047005279920995235,
        0.0006050289957784116,
        -0.0039012718480080366,
        0.004316905979067087,
        -1.7510403394699097,
        -0.6466501355171204,
        -0.704315721988678,
        -0.11484958231449127,
        0.6104879975318909,
        -0.22270874679088593,
        -0.6774546504020691,
        0.7579144239425659,
        0.3277260363101959,
        -3.6410248279571533,
        0.9418578743934631,
        -3.007035255432129,
        1.4951146841049194,
        1.396831750869751,
        0.5852037072181702,
        0.7441707253456116,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.7052581906318665,
        -0.11997723579406738,
        0.5897065997123718,
        -0.20948129892349243,
        -0.6531975865364075,
        0.7558207511901855,
        0.32028716802597046,
        -3.635906457901001,
        0.9595134258270264,
        -3.043245792388916,
        1.5103175640106201,
        1.4198424816131592,
        0.5928360223770142,
        0.7478147745132446
      ],
      "target_rad": [
        -0.7052581906318665,
        -0.20727723836898804,
        0.1318066120147705,
        -0.21438129246234894,
        -0.20019757747650146,
        1.104920744895935,
        0.66938716173172,
        -3.635906457901001,
        0.9595134258270264,
        -3.043245792388916,
        1.5976176261901855,
        1.8777425289154053,
        0.5977360010147095,
        0.2948147654533386
      ],
      "elapsed_seconds": 7.390603423118591e-05
    },
    {
      "call": 157,
      "physics_step": 628,
      "sim_time_s": 3.1399999999999553,
      "observation": [
        -0.4408497214317322,
        -0.33191925287246704,
        0.4323786795139313,
        -0.23020844161510468,
        -0.94513338804245,
        -0.23179063200950623,
        -0.29349803924560547,
        -0.005930387880653143,
        0.9721298813819885,
        -0.2657213807106018,
        -0.7569369077682495,
        0.6996182203292847,
        0.12983331084251404,
        -2.971858024597168,
        0.43998807668685913,
        -0.5330737233161926,
        0.3026317059993744,
        1.114114761352539,
        0.6997635960578918,
        0.7888619303703308,
        -0.2416410595178604,
        0.9464986324310303,
        -0.5379311442375183,
        -0.12884265184402466,
        1.007241129875183,
        -0.0094681978225708,
        0.6400054693222046,
        0.012454994022846222,
        0.0028368353378027678,
        -9.379776020068675e-05,
        -0.0005075079970993102,
        0.005010557360947132,
        -1.4899259805679321,
        -0.5358148217201233,
        -0.7052581906318665,
        -0.11997723579406738,
        0.5897065997123718,
        -0.20948129892349243,
        -0.6531975865364075,
        0.7558207511901855,
        0.32028716802597046,
        -3.635906457901001,
        0.9595134258270264,
        -3.043245792388916,
        1.5103175640106201,
        1.4198424816131592,
        0.5928360223770142,
        0.7478147745132446,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.7159712314605713,
        -0.13271452486515045,
        0.5680376887321472,
        -0.19917353987693787,
        -0.6266559958457947,
        0.7709054946899414,
        0.3161014914512634,
        -3.6730406284332275,
        0.9789686799049377,
        -3.115635395050049,
        1.5439804792404175,
        1.4465190172195435,
        0.6035793423652649,
        0.7565383911132812
      ],
      "target_rad": [
        -0.7159712314605713,
        -0.2200145274400711,
        0.1101377010345459,
        -0.20407353341579437,
        -0.17365598678588867,
        1.120005488395691,
        0.6652014851570129,
        -3.6730406284332275,
        0.9789686799049377,
        -3.115635395050049,
        1.6312804222106934,
        1.9044189453125,
        0.6084793210029602,
        0.30353838205337524
      ],
      "elapsed_seconds": 8.402601815760136e-05
    },
    {
      "call": 158,
      "physics_step": 632,
      "sim_time_s": 3.159999999999955,
      "observation": [
        -0.7067739367485046,
        -0.34460005164146423,
        0.6949177980422974,
        -0.24303998053073883,
        -0.939439058303833,
        -0.24163150787353516,
        -0.2978636622428894,
        0.011374454945325851,
        0.9620027542114258,
        -0.2665078341960907,
        -0.7355126142501831,
        0.6994903683662415,
        0.1418297290802002,
        -2.971750020980835,
        0.44004541635513306,
        -0.533080518245697,
        0.30267632007598877,
        1.1142370700836182,
        0.6740431785583496,
        0.7800539135932922,
        -0.20415085554122925,
        0.8164012432098389,
        -0.4859803318977356,
        -0.011241365224123001,
        1.0887609720230103,
        -0.005146349314600229,
        0.578149139881134,
        0.003091685939580202,
        0.0023843753151595592,
        -0.0004045860259793699,
        0.0028880236204713583,
        0.005769721232354641,
        -1.166761875152588,
        -0.3868453800678253,
        -0.7159712314605713,
        -0.13271452486515045,
        0.5680376887321472,
        -0.19917353987693787,
        -0.6266559958457947,
        0.7709054946899414,
        0.3161014914512634,
        -3.6730406284332275,
        0.9789686799049377,
        -3.115635395050049,
        1.5439804792404175,
        1.4465190172195435,
        0.6035793423652649,
        0.7565383911132812,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.7424535155296326,
        -0.15383125841617584,
        0.5448331832885742,
        -0.19178506731987,
        -0.5933651328086853,
        0.8070167303085327,
        0.3150748908519745,
        -3.7635586261749268,
        1.0032685995101929,
        -3.236133337020874,
        1.600771188735962,
        1.4743919372558594,
        0.6104229092597961,
        0.7741454839706421
      ],
      "target_rad": [
        -0.7424535155296326,
        -0.2411312609910965,
        0.0869331955909729,
        -0.1966850608587265,
        -0.1403651237487793,
        1.1561167240142822,
        0.6641749143600464,
        -3.7635586261749268,
        1.0032685995101929,
        -3.236133337020874,
        1.6880712509155273,
        1.9322919845581055,
        0.6153228878974915,
        0.3211454749107361
      ],
      "elapsed_seconds": 6.677594501525164e-05
    },
    {
      "call": 159,
      "physics_step": 636,
      "sim_time_s": 3.1799999999999544,
      "observation": [
        -0.994502067565918,
        -0.36100444197654724,
        0.9751846790313721,
        -0.2610545754432678,
        -0.9306563138961792,
        -0.2563773989677429,
        -0.3014088571071625,
        0.025649812072515488,
        0.9526769518852234,
        -0.26603463292121887,
        -0.7122576832771301,
        0.6994571089744568,
        0.15273800492286682,
        -2.971849203109741,
        0.44011083245277405,
        -0.5330935716629028,
        0.3028299808502197,
        1.1143723726272583,
        0.6547741293907166,
        0.7748761773109436,
        -0.1548011749982834,
        0.6526907086372375,
        -0.46268898248672485,
        0.043257299810647964,
        1.1845837831497192,
        -0.0008443245314992964,
        0.5251785516738892,
        -0.0066784583032131195,
        0.003062397940084338,
        -0.0008217833237722516,
        0.008212811313569546,
        0.006241415627300739,
        -0.8486571311950684,
        -0.19151894748210907,
        -0.7424535155296326,
        -0.15383125841617584,
        0.5448331832885742,
        -0.19178506731987,
        -0.5933651328086853,
        0.8070167303085327,
        0.3150748908519745,
        -3.7635586261749268,
        1.0032685995101929,
        -3.236133337020874,
        1.600771188735962,
        1.4743919372558594,
        0.6104229092597961,
        0.7741454839706421,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.7875267863273621,
        -0.1781642884016037,
        0.5225604176521301,
        -0.18741220235824585,
        -0.5510051250457764,
        0.8591970205307007,
        0.31705114245414734,
        -3.9077296257019043,
        1.0359340906143188,
        -3.4024498462677,
        1.6768887042999268,
        1.5010614395141602,
        0.6121814846992493,
        0.8036291003227234
      ],
      "target_rad": [
        -0.7875267863273621,
        -0.26546430587768555,
        0.06466042995452881,
        -0.19231219589710236,
        -0.09800511598587036,
        1.2082970142364502,
        0.6661511659622192,
        -3.9077296257019043,
        1.0359340906143188,
        -3.4024498462677,
        1.7641887664794922,
        1.9589614868164062,
        0.6170814633369446,
        0.3506290912628174
      ],
      "elapsed_seconds": 0.0024447609903290868
    },
    {
      "call": 160,
      "physics_step": 640,
      "sim_time_s": 3.199999999999954,
      "observation": [
        -1.3084594011306763,
        -0.387281209230423,
        1.294424057006836,
        -0.28474366664886475,
        -0.9179182648658752,
        -0.2763097286224365,
        -0.30397769808769226,
        0.03642929345369339,
        0.9435557126998901,
        -0.26430386304855347,
        -0.6865391135215759,
        0.6995060443878174,
        0.16275975108146667,
        -2.9722142219543457,
        0.44020703434944153,
        -0.5331119298934937,
        0.30309781432151794,
        1.1145113706588745,
        0.6412604451179504,
        0.7739258408546448,
        -0.1053745225071907,
        0.46812862157821655,
        -0.4590817391872406,
        0.12282317131757736,
        1.3200284242630005,
        0.002855882979929447,
        0.48520123958587646,
        -0.019425079226493835,
        0.004582664929330349,
        -0.001024061581119895,
        0.013504007831215858,
        0.0062517570331692696,
        -0.5796279311180115,
        0.009876906871795654,
        -0.7875267863273621,
        -0.1781642884016037,
        0.5225604176521301,
        -0.18741220235824585,
        -0.5510051250457764,
        0.8591970205307007,
        0.31705114245414734,
        -3.9077296257019043,
        1.0359340906143188,
        -3.4024498462677,
        1.6768887042999268,
        1.5010614395141602,
        0.6121814846992493,
        0.8036291003227234,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.8569731712341309,
        -0.20104831457138062,
        0.4996189773082733,
        -0.18580910563468933,
        -0.4993407726287842,
        0.9196484088897705,
        0.327757865190506,
        -4.099768161773682,
        1.0811220407485962,
        -3.605330228805542,
        1.7684422731399536,
        1.5345693826675415,
        0.6016461253166199,
        0.8387123942375183
      ],
      "target_rad": [
        -0.8569731712341309,
        -0.28834831714630127,
        0.041718989610672,
        -0.19070909917354584,
        -0.046340763568878174,
        1.26874840259552,
        0.6768578290939331,
        -4.099768161773682,
        1.0811220407485962,
        -3.605330228805542,
        1.8557422161102295,
        1.992469310760498,
        0.6065461039543152,
        0.3857123851776123
      ],
      "elapsed_seconds": 0.00011919898679479957
    },
    {
      "call": 161,
      "physics_step": 644,
      "sim_time_s": 3.2199999999999536,
      "observation": [
        -1.6728273630142212,
        -0.4330666959285736,
        1.6616089344024658,
        -0.3147847652435303,
        -0.8999367356300354,
        -0.30170249938964844,
        -0.30591049790382385,
        0.044019509106874466,
        0.9346926808357239,
        -0.26095321774482727,
        -0.6574119329452515,
        0.6996508240699768,
        0.17243430018424988,
        -2.972853660583496,
        0.4403561055660248,
        -0.5331318974494934,
        0.3034649193286896,
        1.1146659851074219,
        0.631822943687439,
        0.7773968577384949,
        -0.08724335581064224,
        0.33581772446632385,
        -0.42806702852249146,
        0.18502309918403625,
        1.5052263736724854,
        0.007604644168168306,
        0.47923463582992554,
        -0.03179514408111572,
        0.00730525329709053,
        -0.000978282536379993,
        0.017712505534291267,
        0.007191609591245651,
        -0.410961776971817,
        0.253010630607605,
        -0.8569731712341309,
        -0.20104831457138062,
        0.4996189773082733,
        -0.18580910563468933,
        -0.4993407726287842,
        0.9196484088897705,
        0.327757865190506,
        -4.099768161773682,
        1.0811220407485962,
        -3.605330228805542,
        1.7684422731399536,
        1.5345693826675415,
        0.6016461253166199,
        0.8387123942375183,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9651176333427429,
        -0.22337967157363892,
        0.47168150544166565,
        -0.19346259534358978,
        -0.4476686418056488,
        0.9804887771606445,
        0.34686005115509033,
        -4.33383846282959,
        1.1466327905654907,
        -3.833866834640503,
        1.8703718185424805,
        1.5785664319992065,
        0.5487674474716187,
        0.8644430637359619
      ],
      "target_rad": [
        -0.9651176333427429,
        -0.31067967414855957,
        0.013781517744064331,
        -0.1983625888824463,
        0.005331367254257202,
        1.329588770866394,
        0.6959600448608398,
        -4.33383846282959,
        1.1466327905654907,
        -3.833866834640503,
        1.957671880722046,
        2.036466360092163,
        0.553667426109314,
        0.4114430546760559
      ],
      "elapsed_seconds": 0.0001759929582476616
    },
    {
      "call": 162,
      "physics_step": 648,
      "sim_time_s": 3.239999999999953,
      "observation": [
        -2.1000912189483643,
        -0.5027812719345093,
        2.0984718799591064,
        -0.3521040976047516,
        -0.874774694442749,
        -0.3328542411327362,
        -0.30811807513237,
        0.05035054683685303,
        0.9266034960746765,
        -0.25741690397262573,
        -0.6243840456008911,
        0.699876606464386,
        0.18248099088668823,
        -2.9737460613250732,
        0.440591961145401,
        -0.5331478714942932,
        0.303907573223114,
        1.1148574352264404,
        0.6224662661552429,
        0.7855426073074341,
        -0.11025923490524292,
        0.3095097541809082,
        -0.3910846412181854,
        0.16751323640346527,
        1.7027958631515503,
        0.011092562228441238,
        0.5080179572105408,
        -0.0431349091231823,
        0.011735615320503712,
        -0.0008673648699186742,
        0.02093450538814068,
        0.009006926789879799,
        -0.4904664158821106,
        0.4791722297668457,
        -0.9651176333427429,
        -0.22337967157363892,
        0.47168150544166565,
        -0.19346259534358978,
        -0.4476686418056488,
        0.9804887771606445,
        0.34686005115509033,
        -4.33383846282959,
        1.1466327905654907,
        -3.833866834640503,
        1.8703718185424805,
        1.5785664319992065,
        0.5487674474716187,
        0.8644430637359619,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.103873372077942,
        -0.23939171433448792,
        0.43792834877967834,
        -0.20112231373786926,
        -0.3872164487838745,
        1.025195598602295,
        0.3469400703907013,
        -4.598061561584473,
        1.2424973249435425,
        -4.079548358917236,
        1.9629145860671997,
        1.623310923576355,
        0.45318812131881714,
        0.8718652725219727
      ],
      "target_rad": [
        -1.103873372077942,
        -0.32669171690940857,
        -0.019971638917922974,
        -0.20602230727672577,
        0.0657835602760315,
        1.3742955923080444,
        0.6960400342941284,
        -4.598061561584473,
        1.2424973249435425,
        -4.079548358917236,
        2.0502145290374756,
        2.0812108516693115,
        0.45808812975883484,
        0.41886526346206665
      ],
      "elapsed_seconds": 0.00012729002628475428
    },
    {
      "call": 163,
      "physics_step": 652,
      "sim_time_s": 3.2599999999999527,
      "observation": [
        -2.612570285797119,
        -0.5710976123809814,
        2.6248481273651123,
        -0.3975178301334381,
        -0.8396068215370178,
        -0.3701891005039215,
        -0.3108932375907898,
        0.05778195336461067,
        0.9184069037437439,
        -0.25480568408966064,
        -0.5869845151901245,
        0.7001164555549622,
        0.19250841438770294,
        -2.9748594760894775,
        0.440949946641922,
        -0.5331646203994751,
        0.30438321828842163,
        1.115077018737793,
        0.607216477394104,
        0.7967933416366577,
        -0.1417933702468872,
        0.40626174211502075,
        -0.41620150208473206,
        0.10733003169298172,
        1.9289997816085815,
        0.010774306952953339,
        0.4938104748725891,
        -0.0527222640812397,
        0.017497342079877853,
        -0.0010006871307268739,
        0.02201363816857338,
        0.01006425078958273,
        -0.8897462487220764,
        0.5971511006355286,
        -1.103873372077942,
        -0.23939171433448792,
        0.43792834877967834,
        -0.20112231373786926,
        -0.3872164487838745,
        1.025195598602295,
        0.3469400703907013,
        -4.598061561584473,
        1.2424973249435425,
        -4.079548358917236,
        1.9629145860671997,
        1.623310923576355,
        0.45318812131881714,
        0.8718652725219727,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.2719477415084839,
        -0.23009905219078064,
        0.402313232421875,
        -0.20128148794174194,
        -0.30458906292915344,
        1.0289944410324097,
        0.3348311185836792,
        -4.8382439613342285,
        1.3901448249816895,
        -4.324117183685303,
        2.008720874786377,
        1.671716570854187,
        0.2505774199962616,
        0.8562247157096863
      ],
      "target_rad": [
        -1.2719477415084839,
        -0.3173990547657013,
        -0.05558675527572632,
        -0.20618148148059845,
        0.14841094613075256,
        1.3780944347381592,
        0.6839311122894287,
        -4.8382439613342285,
        1.3901448249816895,
        -4.324117183685303,
        2.0960209369659424,
        2.1296164989471436,
        0.2554774284362793,
        0.4032247066497803
      ],
      "elapsed_seconds": 8.729699766263366e-05
    },
    {
      "call": 164,
      "physics_step": 656,
      "sim_time_s": 3.2799999999999523,
      "observation": [
        -1.2500919103622437,
        -0.4986346960067749,
        0.46740323305130005,
        -0.43300655484199524,
        -0.8069375157356262,
        -0.40169283747673035,
        -0.31408342719078064,
        0.06922980397939682,
        0.9102108478546143,
        -0.2539091110229492,
        -0.5403623580932617,
        0.7004079222679138,
        0.2012738436460495,
        -2.97554612159729,
        0.44134849309921265,
        -0.5332497954368591,
        0.3048171401023865,
        1.1152458190917969,
        0.5770708322525024,
        0.8078383803367615,
        -0.12604157626628876,
        0.6322618722915649,
        -0.3384922444820404,
        -0.02967514656484127,
        2.669304609298706,
        0.020368529483675957,
        0.397657573223114,
        -0.008055460639297962,
        0.010678512044250965,
        -0.008330639451742172,
        0.021585894748568535,
        0.003103208728134632,
        -1.745314121246338,
        0.5129609704017639,
        -1.2719477415084839,
        -0.23009905219078064,
        0.402313232421875,
        -0.20128148794174194,
        -0.30458906292915344,
        1.0289944410324097,
        0.3348311185836792,
        -4.8382439613342285,
        1.3901448249816895,
        -4.324117183685303,
        2.008720874786377,
        1.671716570854187,
        0.2505774199962616,
        0.8562247157096863,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.4201552867889404,
        -0.5116435885429382,
        0.3766574263572693,
        -0.2592162787914276,
        -0.4559136927127838,
        1.233504056930542,
        0.382955938577652,
        -5.166009426116943,
        1.453188180923462,
        -4.572963237762451,
        2.3014564514160156,
        1.5911617279052734,
        0.5227672457695007,
        1.001312494277954
      ],
      "target_rad": [
        -1.4201552867889404,
        -0.5989435911178589,
        -0.08124256134033203,
        -0.2641162872314453,
        -0.0029136836528778076,
        1.5826040506362915,
        0.7320559024810791,
        -5.166009426116943,
        1.453188180923462,
        -4.572963237762451,
        2.388756513595581,
        2.0490617752075195,
        0.527667224407196,
        0.5483124852180481
      ],
      "elapsed_seconds": 9.084696648642421e-05
    },
    {
      "call": 165,
      "physics_step": 660,
      "sim_time_s": 3.299999999999952,
      "observation": [
        0.3486701250076294,
        -0.8231486082077026,
        -0.5814908742904663,
        -0.43069779872894287,
        -0.8100400567054749,
        -0.3979127109050751,
        -0.3147698640823364,
        0.07013547420501709,
        0.9073613882064819,
        -0.2608979046344757,
        -0.4924467206001282,
        0.7011359333992004,
        0.20982465147972107,
        -2.975806951522827,
        0.44160303473472595,
        -0.5334094166755676,
        0.30524373054504395,
        1.1151469945907593,
        0.5522238612174988,
        0.8255091905593872,
        0.023713255301117897,
        -0.22215384244918823,
        -0.06380235403776169,
        -0.5115556716918945,
        2.1812567710876465,
        0.03275354951620102,
        0.46615320444107056,
        -0.016075974330306053,
        0.011461828835308552,
        -0.006704594008624554,
        0.016806066036224365,
        -0.00552742974832654,
        -0.9919673800468445,
        1.0625205039978027,
        -1.4201552867889404,
        -0.5116435885429382,
        0.3766574263572693,
        -0.2592162787914276,
        -0.4559136927127838,
        1.233504056930542,
        0.382955938577652,
        -5.166009426116943,
        1.453188180923462,
        -4.572963237762451,
        2.3014564514160156,
        1.5911617279052734,
        0.5227672457695007,
        1.001312494277954,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.370678186416626,
        -0.6276321411132812,
        0.5423300862312317,
        -0.20241539180278778,
        -0.5356910228729248,
        1.4451757669448853,
        0.4693509340286255,
        -5.36836051940918,
        1.419506311416626,
        -4.746779441833496,
        2.348459482192993,
        1.5637028217315674,
        0.9752246141433716,
        1.1219559907913208
      ],
      "target_rad": [
        -1.370678186416626,
        -0.7149321436882019,
        0.08443009853363037,
        -0.2073153853416443,
        -0.0826910138130188,
        1.7942757606506348,
        0.818450927734375,
        -5.36836051940918,
        1.419506311416626,
        -4.746779441833496,
        2.4357595443725586,
        2.0216028690338135,
        0.9801245927810669,
        0.6689559817314148
      ],
      "elapsed_seconds": 0.00012347998563200235
    },
    {
      "call": 166,
      "physics_step": 664,
      "sim_time_s": 3.3199999999999514,
      "observation": [
        0.4874643385410309,
        -0.4573400616645813,
        -0.35188183188438416,
        -0.43008655309677124,
        -0.8186493515968323,
        -0.3805769681930542,
        -0.3105289041996002,
        0.053549110889434814,
        0.910010576248169,
        -0.2701358497142792,
        -0.46132785081863403,
        0.7017797827720642,
        0.22474052011966705,
        -2.9760212898254395,
        0.44186273217201233,
        -0.5334823131561279,
        0.30542147159576416,
        1.1150349378585815,
        0.5620235800743103,
        0.8574817180633545,
        0.2844427227973938,
        -1.0518338680267334,
        0.165422260761261,
        -0.31483393907546997,
        1.1421079635620117,
        0.02472464181482792,
        0.8206250071525574,
        -0.004855643026530743,
        0.02129330299794674,
        -0.0009008331107906997,
        0.005566866137087345,
        -0.0024221036583185196,
        1.1956456899642944,
        1.8497285842895508,
        -1.370678186416626,
        -0.6276321411132812,
        0.5423300862312317,
        -0.20241539180278778,
        -0.5356910228729248,
        1.4451757669448853,
        0.4693509340286255,
        -5.36836051940918,
        1.419506311416626,
        -4.746779441833496,
        2.348459482192993,
        1.5637028217315674,
        0.9752246141433716,
        1.1219559907913208,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -1.1374664306640625,
        -0.5231944918632507,
        0.6097142696380615,
        -0.18311819434165955,
        -0.5699959993362427,
        1.3670170307159424,
        0.4528637230396271,
        -5.24498987197876,
        1.2439076900482178,
        -4.53800630569458,
        2.1948351860046387,
        1.5444821119308472,
        1.1724926233291626,
        1.0586849451065063
      ],
      "target_rad": [
        -1.1374664306640625,
        -0.6104944944381714,
        0.1518142819404602,
        -0.18801818788051605,
        -0.11699599027633667,
        1.716117024421692,
        0.8019636869430542,
        -5.24498987197876,
        1.2439076900482178,
        -4.53800630569458,
        2.282135248184204,
        2.0023820400238037,
        1.177392601966858,
        0.6056849360466003
      ],
      "elapsed_seconds": 9.009800851345062e-05
    },
    {
      "call": 167,
      "physics_step": 668,
      "sim_time_s": 3.339999999999951,
      "observation": [
        0.2131310999393463,
        -0.17412221431732178,
        -0.25046366453170776,
        -0.42713579535484314,
        -0.8232730031013489,
        -0.37386709451675415,
        -0.3028782606124878,
        0.028579531237483025,
        0.9153427481651306,
        -0.27311623096466064,
        -0.45091503858566284,
        0.702142596244812,
        0.24012719094753265,
        -2.976189613342285,
        0.4419727921485901,
        -0.5334729552268982,
        0.3054741621017456,
        1.1149380207061768,
        0.613021194934845,
        0.8951427936553955,
        0.4244566857814789,
        -1.3401975631713867,
        0.3161803185939789,
        -0.09476332366466522,
        0.21537229418754578,
        0.01602913998067379,
        0.7333875894546509,
        -0.010228757746517658,
        0.0004185820871498436,
        0.0007001536432653666,
        0.0012872476363554597,
        -0.005091827362775803,
        3.210139274597168,
        1.8711268901824951,
        -1.1374664306640625,
        -0.5231944918632507,
        0.6097142696380615,
        -0.18311819434165955,
        -0.5699959993362427,
        1.3670170307159424,
        0.4528637230396271,
        -5.24498987197876,
        1.2439076900482178,
        -4.53800630569458,
        2.1948351860046387,
        1.5444821119308472,
        1.1724926233291626,
        1.0586849451065063,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9792565107345581,
        -0.4189855456352234,
        0.6294476985931396,
        -0.15047679841518402,
        -0.5942814946174622,
        1.2694075107574463,
        0.3906475901603699,
        -4.999984264373779,
        1.1321688890457153,
        -4.291805744171143,
        2.0516483783721924,
        1.5179729461669922,
        1.154739260673523,
        0.9782387018203735
      ],
      "target_rad": [
        -0.9792565107345581,
        -0.506285548210144,
        0.17154771089553833,
        -0.15537679195404053,
        -0.14128148555755615,
        1.6185075044631958,
        0.7397475838661194,
        -4.999984264373779,
        1.1321688890457153,
        -4.291805744171143,
        2.138948440551758,
        1.9758729934692383,
        1.1596392393112183,
        0.5252386927604675
      ],
      "elapsed_seconds": 8.359603816643357e-05
    },
    {
      "call": 168,
      "physics_step": 672,
      "sim_time_s": 3.3599999999999506,
      "observation": [
        0.17053106427192688,
        -0.07984387129545212,
        -0.16179202497005463,
        -0.42478054761886597,
        -0.8261013031005859,
        -0.37029463052749634,
        -0.29443687200546265,
        0.004214982967823744,
        0.9217020273208618,
        -0.27361544966697693,
        -0.4540726840496063,
        0.7022401690483093,
        0.251060426235199,
        -2.9764153957366943,
        0.44167500734329224,
        -0.5334743857383728,
        0.30547386407852173,
        1.1148313283920288,
        0.689520537853241,
        0.9260476231575012,
        0.3926490545272827,
        -1.1086589097976685,
        0.3016715347766876,
        -0.006519409362226725,
        -0.3488885164260864,
        0.0001748241629684344,
        0.4683460295200348,
        -0.01070194598287344,
        -0.018835967406630516,
        -0.0007621810655109584,
        -0.000849251460749656,
        -0.0045832241885364056,
        4.09160041809082,
        1.3595144748687744,
        -0.9792565107345581,
        -0.4189855456352234,
        0.6294476985931396,
        -0.15047679841518402,
        -0.5942814946174622,
        1.2694075107574463,
        0.3906475901603699,
        -4.999984264373779,
        1.1321688890457153,
        -4.291805744171143,
        2.0516483783721924,
        1.5179729461669922,
        1.154739260673523,
        0.9782387018203735,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9191491007804871,
        -0.36812838912010193,
        0.6598653197288513,
        -0.13396888971328735,
        -0.6079062819480896,
        1.2293603420257568,
        0.33946970105171204,
        -4.801621913909912,
        1.1060216426849365,
        -4.163069248199463,
        1.985520362854004,
        1.5123610496520996,
        1.0728662014007568,
        0.9281653165817261
      ],
      "target_rad": [
        -0.9191491007804871,
        -0.4554283916950226,
        0.20196533203125,
        -0.13886888325214386,
        -0.1549062728881836,
        1.5784603357315063,
        0.6885696649551392,
        -4.801621913909912,
        1.1060216426849365,
        -4.163069248199463,
        2.0728204250335693,
        1.9702610969543457,
        1.0777661800384521,
        0.47516530752182007
      ],
      "elapsed_seconds": 7.488601841032505e-05
    },
    {
      "call": 169,
      "physics_step": 676,
      "sim_time_s": 3.37999999999995,
      "observation": [
        0.16472214460372925,
        -0.0015324595151469111,
        -0.09689608961343765,
        -0.42300423979759216,
        -0.8284006118774414,
        -0.36717820167541504,
        -0.2883497178554535,
        -0.01258094236254692,
        0.9264386296272278,
        -0.27242398262023926,
        -0.4660736620426178,
        0.7020880579948425,
        0.25684088468551636,
        -2.97662353515625,
        0.4412533938884735,
        -0.5335056185722351,
        0.3053525388240814,
        1.1147748231887817,
        0.7700884938240051,
        0.9448639154434204,
        0.2568168044090271,
        -0.7182474732398987,
        0.20405438542366028,
        0.08441410958766937,
        -0.7091777324676514,
        -0.009569736197590828,
        0.20434261858463287,
        -0.010161141864955425,
        -0.020048409700393677,
        -0.0020248882938176394,
        -0.006227979436516762,
        -0.0019038576865568757,
        3.94759464263916,
        0.7178930640220642,
        -0.9191491007804871,
        -0.36812838912010193,
        0.6598653197288513,
        -0.13396888971328735,
        -0.6079062819480896,
        1.2293603420257568,
        0.33946970105171204,
        -4.801621913909912,
        1.1060216426849365,
        -4.163069248199463,
        1.985520362854004,
        1.5123610496520996,
        1.0728662014007568,
        0.9281653165817261,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.8926805853843689,
        -0.3436611294746399,
        0.6684489250183105,
        -0.1344890594482422,
        -0.618930459022522,
        1.20443594455719,
        0.313203364610672,
        -4.693958282470703,
        1.0964481830596924,
        -4.08135986328125,
        1.9532448053359985,
        1.5118637084960938,
        1.0118088722229004,
        0.8978744149208069
      ],
      "target_rad": [
        -0.8926805853843689,
        -0.43096113204956055,
        0.21054893732070923,
        -0.1393890529870987,
        -0.16593044996261597,
        1.5535359382629395,
        0.6623033285140991,
        -4.693958282470703,
        1.0964481830596924,
        -4.08135986328125,
        2.0405447483062744,
        1.9697637557983398,
        1.0167088508605957,
        0.4448744058609009
      ],
      "elapsed_seconds": 8.923700079321861e-05
    },
    {
      "call": 170,
      "physics_step": 680,
      "sim_time_s": 3.3999999999999497,
      "observation": [
        0.06464115530252457,
        0.03158273547887802,
        -0.02555168606340885,
        -0.42192205786705017,
        -0.8296428918838501,
        -0.3656151592731476,
        -0.2841504216194153,
        -0.024907713755965233,
        0.9300076365470886,
        -0.27050143480300903,
        -0.4822475016117096,
        0.7018303275108337,
        0.2585935592651367,
        -2.9767653942108154,
        0.4408803880214691,
        -0.5335553884506226,
        0.30523881316185,
        1.114763855934143,
        0.8408718109130859,
        0.9516776204109192,
        0.1977165937423706,
        -0.6152172088623047,
        0.1807032972574234,
        0.09480495005846024,
        -0.8349540829658508,
        -0.013002078048884869,
        0.03720420226454735,
        -0.005819040350615978,
        -0.01698698103427887,
        -0.0023382119834423065,
        -0.0038124369457364082,
        -8.036140934564173e-05,
        3.289900779724121,
        0.14710181951522827,
        -0.8926805853843689,
        -0.3436611294746399,
        0.6684489250183105,
        -0.1344890594482422,
        -0.618930459022522,
        1.20443594455719,
        0.313203364610672,
        -4.693958282470703,
        1.0964481830596924,
        -4.08135986328125,
        1.9532448053359985,
        1.5118637084960938,
        1.0118088722229004,
        0.8978744149208069,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.8789153099060059,
        -0.3261934220790863,
        0.6542893648147583,
        -0.15641668438911438,
        -0.6215389966964722,
        1.19316565990448,
        0.29950863122940063,
        -4.661406517028809,
        1.0878565311431885,
        -4.039381980895996,
        1.9452811479568481,
        1.5224698781967163,
        0.9837136268615723,
        0.8865340948104858
      ],
      "target_rad": [
        -0.8789153099060059,
        -0.41349342465400696,
        0.19638937711715698,
        -0.1613166779279709,
        -0.16853898763656616,
        1.5422656536102295,
        0.6486086249351501,
        -4.661406517028809,
        1.0878565311431885,
        -4.039381980895996,
        2.032581090927124,
        1.9803698062896729,
        0.9886136054992676,
        0.43353408575057983
      ],
      "elapsed_seconds": 8.047698065638542e-05
    },
    {
      "call": 171,
      "physics_step": 684,
      "sim_time_s": 3.4199999999999493,
      "observation": [
        0.03764214739203453,
        0.03320171684026718,
        -0.01564476639032364,
        -0.42142918705940247,
        -0.8300776481628418,
        -0.3651965260505676,
        -0.28049203753471375,
        -0.03632334619760513,
        0.9331019520759583,
        -0.26956304907798767,
        -0.4989534318447113,
        0.7015820145606995,
        0.25873807072639465,
        -2.9767837524414062,
        0.44059428572654724,
        -0.53359055519104,
        0.30518126487731934,
        1.1147831678390503,
        0.896903932094574,
        0.9503394365310669,
        0.1735108643770218,
        -0.5414730310440063,
        0.13982723653316498,
        0.026241378858685493,
        -0.8242404460906982,
        -0.011331637389957905,
        -0.001439399435184896,
        0.000753185071516782,
        -0.01232463214546442,
        -0.0015022029401734471,
        -0.002427624771371484,
        0.0010984489927068353,
        2.520939350128174,
        -0.17317922413349152,
        -0.8789153099060059,
        -0.3261934220790863,
        0.6542893648147583,
        -0.15641668438911438,
        -0.6215389966964722,
        1.19316565990448,
        0.29950863122940063,
        -4.661406517028809,
        1.0878565311431885,
        -4.039381980895996,
        1.9452811479568481,
        1.5224698781967163,
        0.9837136268615723,
        0.8865340948104858,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.880321204662323,
        -0.3225891888141632,
        0.6378383636474609,
        -0.18560796976089478,
        -0.631315290927887,
        1.1960076093673706,
        0.29888996481895447,
        -4.670345306396484,
        1.0778868198394775,
        -4.023938179016113,
        1.9542083740234375,
        1.5355496406555176,
        0.9756912589073181,
        0.8884085416793823
      ],
      "target_rad": [
        -0.880321204662323,
        -0.40988919138908386,
        0.17993837594985962,
        -0.19050796329975128,
        -0.17831528186798096,
        1.5451076030731201,
        0.6479899883270264,
        -4.670345306396484,
        1.0778868198394775,
        -4.023938179016113,
        2.041508436203003,
        1.9934496879577637,
        0.9805912375450134,
        0.4354085326194763
      ],
      "elapsed_seconds": 0.00013207102892920375
    },
    {
      "call": 172,
      "physics_step": 688,
      "sim_time_s": 3.439999999999949,
      "observation": [
        0.048568084836006165,
        0.04052514582872391,
        -0.026384146884083748,
        -0.4207092821598053,
        -0.8306522965431213,
        -0.36471977829933167,
        -0.2776983976364136,
        -0.04487091675400734,
        0.9349182844161987,
        -0.2701060473918915,
        -0.5152049660682678,
        0.7014164328575134,
        0.25859302282333374,
        -2.976773262023926,
        0.4403931498527527,
        -0.5336184501647949,
        0.30514854192733765,
        1.1148179769515991,
        0.9384260773658752,
        0.9446532130241394,
        0.12335427850484848,
        -0.38183826208114624,
        0.07009702920913696,
        -0.047966375946998596,
        -0.795232892036438,
        -0.0068421377800405025,
        -0.0075202141888439655,
        0.00039892448694445193,
        -0.008383448235690594,
        -0.0011774530867114663,
        -0.0009809407638385892,
        0.0016748603666201234,
        1.8262304067611694,
        -0.336162269115448,
        -0.880321204662323,
        -0.3225891888141632,
        0.6378383636474609,
        -0.18560796976089478,
        -0.631315290927887,
        1.1960076093673706,
        0.29888996481895447,
        -4.670345306396484,
        1.0778868198394775,
        -4.023938179016113,
        1.9542083740234375,
        1.5355496406555176,
        0.9756912589073181,
        0.8884085416793823,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.8876065015792847,
        -0.32643944025039673,
        0.6259756088256836,
        -0.2124079018831253,
        -0.6453185677528381,
        1.2012373208999634,
        0.30677348375320435,
        -4.687191486358643,
        1.068663239479065,
        -4.0123162269592285,
        1.9646066427230835,
        1.5461623668670654,
        0.9703285694122314,
        0.8921205997467041
      ],
      "target_rad": [
        -0.8876065015792847,
        -0.4137394428253174,
        0.16807562112808228,
        -0.2173078954219818,
        -0.19231855869293213,
        1.550337314605713,
        0.6558734774589539,
        -4.687191486358643,
        1.068663239479065,
        -4.0123162269592285,
        2.0519065856933594,
        2.0040624141693115,
        0.9752285480499268,
        0.4391205906867981
      ],
      "elapsed_seconds": 0.00016450200928375125
    },
    {
      "call": 173,
      "physics_step": 692,
      "sim_time_s": 3.4599999999999485,
      "observation": [
        0.11951348930597305,
        -0.09227005392313004,
        -0.054336439818143845,
        -0.42036038637161255,
        -0.8316922783851624,
        -0.36274656653404236,
        -0.27567800879478455,
        -0.05192252993583679,
        0.9358384013175964,
        -0.2733595669269562,
        -0.5308660268783569,
        0.7011246681213379,
        0.26027417182922363,
        -2.9767634868621826,
        0.44028154015541077,
        -0.5336130857467651,
        0.30522966384887695,
        1.115307092666626,
        0.9600124955177307,
        0.9397565126419067,
        0.08928944915533066,
        -0.33507272601127625,
        0.03225338086485863,
        -0.22066102921962738,
        -0.7739681005477905,
        -0.016779685392975807,
        0.14109286665916443,
        0.00030234287260100245,
        -0.0033429842442274094,
        0.0002641366154421121,
        0.007696836721152067,
        0.0333523154258728,
        0.5844660997390747,
        -0.16132891178131104,
        -0.8876065015792847,
        -0.32643944025039673,
        0.6259756088256836,
        -0.2124079018831253,
        -0.6453185677528381,
        1.2012373208999634,
        0.30677348375320435,
        -4.687191486358643,
        1.068663239479065,
        -4.0123162269592285,
        1.9646066427230835,
        1.5461623668670654,
        0.9703285694122314,
        0.8921205997467041,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9185984134674072,
        -0.34309670329093933,
        0.6144140362739563,
        -0.24190159142017365,
        -0.650469958782196,
        1.2404967546463013,
        0.31831881403923035,
        -4.762345314025879,
        1.0744966268539429,
        -4.080334663391113,
        2.0206844806671143,
        1.5764316320419312,
        0.9694477319717407,
        0.9200822710990906
      ],
      "target_rad": [
        -0.9185984134674072,
        -0.43039670586586,
        0.15651404857635498,
        -0.24680158495903015,
        -0.19746994972229004,
        1.5895967483520508,
        0.6674188375473022,
        -4.762345314025879,
        1.0744966268539429,
        -4.080334663391113,
        2.1079845428466797,
        2.0343315601348877,
        0.974347710609436,
        0.46708226203918457
      ],
      "elapsed_seconds": 0.0001011179992929101
    },
    {
      "call": 174,
      "physics_step": 696,
      "sim_time_s": 3.479999999999948,
      "observation": [
        0.08409936726093292,
        -0.03864789381623268,
        -0.04991482198238373,
        -0.4199596047401428,
        -0.8328132629394531,
        -0.3606327176094055,
        -0.2741122841835022,
        -0.05825338512659073,
        0.9359442591667175,
        -0.27902883291244507,
        -0.5461584329605103,
        0.7010310292243958,
        0.2632359266281128,
        -2.97684907913208,
        0.4402596652507782,
        -0.5336432456970215,
        0.30551496148109436,
        1.1156729459762573,
        0.9642533659934998,
        0.9385710954666138,
        0.07530496269464493,
        -0.30006182193756104,
        -0.006820023525506258,
        -0.2973455488681793,
        -0.7536464929580688,
        -0.00027374920318834484,
        0.140814870595932,
        -0.005242824554443359,
        -0.0005201364983804524,
        -0.0022217710502445698,
        0.014479191973805428,
        0.008904265239834785,
        0.07476352155208588,
        -0.022993246093392372,
        -0.9185984134674072,
        -0.34309670329093933,
        0.6144140362739563,
        -0.24190159142017365,
        -0.650469958782196,
        1.2404967546463013,
        0.31831881403923035,
        -4.762345314025879,
        1.0744966268539429,
        -4.080334663391113,
        2.0206844806671143,
        1.5764316320419312,
        0.9694477319717407,
        0.9200822710990906,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9291518926620483,
        -0.3545535206794739,
        0.5848366618156433,
        -0.25754985213279724,
        -0.6506271362304688,
        1.2295905351638794,
        0.34437134861946106,
        -4.797605514526367,
        1.069559931755066,
        -4.069742679595947,
        2.0257041454315186,
        1.578392744064331,
        0.9546756744384766,
        0.9152520298957825
      ],
      "target_rad": [
        -0.9291518926620483,
        -0.44185352325439453,
        0.126936674118042,
        -0.26244986057281494,
        -0.19762712717056274,
        1.578690528869629,
        0.6934713125228882,
        -4.797605514526367,
        1.069559931755066,
        -4.069742679595947,
        2.113004207611084,
        2.036292791366577,
        0.9595756530761719,
        0.46225202083587646
      ],
      "elapsed_seconds": 0.000202815979719162
    },
    {
      "call": 175,
      "physics_step": 700,
      "sim_time_s": 3.4999999999999476,
      "observation": [
        0.062105532735586166,
        -0.01714220829308033,
        -0.051936011761426926,
        -0.41922327876091003,
        -0.8337797522544861,
        -0.3592536151409149,
        -0.2726946175098419,
        -0.06347627192735672,
        0.9351986646652222,
        -0.28566938638687134,
        -0.5605470538139343,
        0.7010952830314636,
        0.26618319749832153,
        -2.976935863494873,
        0.4402584135532379,
        -0.5336812138557434,
        0.30572041869163513,
        1.1156729459762573,
        0.9639776349067688,
        0.9381842613220215,
        0.06835612654685974,
        -0.24079430103302002,
        -0.0494256392121315,
        -0.34174901247024536,
        -0.6898833513259888,
        0.004174756817519665,
        0.14724506437778473,
        -0.00364693533629179,
        -3.572388959582895e-05,
        -0.0015892026713117957,
        0.007806377951055765,
        -0.0035337021108716726,
        -0.04324250668287277,
        -0.021703585982322693,
        -0.9291518926620483,
        -0.3545535206794739,
        0.5848366618156433,
        -0.25754985213279724,
        -0.6506271362304688,
        1.2295905351638794,
        0.34437134861946106,
        -4.797605514526367,
        1.069559931755066,
        -4.069742679595947,
        2.0257041454315186,
        1.578392744064331,
        0.9546756744384766,
        0.9152520298957825,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9307576417922974,
        -0.3540721535682678,
        0.5739144682884216,
        -0.25881263613700867,
        -0.6442776322364807,
        1.2184844017028809,
        0.3552249073982239,
        -4.793409824371338,
        1.0763105154037476,
        -4.05096960067749,
        2.019015073776245,
        1.5768473148345947,
        0.9290445446968079,
        0.9058836698532104
      ],
      "target_rad": [
        -0.9307576417922974,
        -0.4413721561431885,
        0.11601448059082031,
        -0.26371264457702637,
        -0.1912776231765747,
        1.5675843954086304,
        0.7043249011039734,
        -4.793409824371338,
        1.0763105154037476,
        -4.05096960067749,
        2.1063151359558105,
        2.034747362136841,
        0.9339445233345032,
        0.45288366079330444
      ],
      "elapsed_seconds": 9.798799874261022e-05
    },
    {
      "call": 176,
      "physics_step": 704,
      "sim_time_s": 3.519999999999947,
      "observation": [
        0.04338483512401581,
        -0.010445878840982914,
        -0.04154429957270622,
        -0.418546199798584,
        -0.8345171213150024,
        -0.35832974314689636,
        -0.271460622549057,
        -0.0674138069152832,
        0.9338270425796509,
        -0.29247555136680603,
        -0.5727444291114807,
        0.7011798620223999,
        0.26913607120513916,
        -2.976985216140747,
        0.4402674734592438,
        -0.5337002873420715,
        0.3057905435562134,
        1.1155283451080322,
        0.9621526598930359,
        0.9368083477020264,
        0.0574418380856514,
        -0.1719621866941452,
        -0.07698877900838852,
        -0.3353040814399719,
        -0.5615335702896118,
        0.0039540682919323444,
        0.14612619578838348,
        -0.0018026343313977122,
        0.0004501155635807663,
        -0.0005557818803936243,
        0.0016991945449262857,
        -0.00811691489070654,
        -0.10601790249347687,
        -0.09373616427183151,
        -0.9307576417922974,
        -0.3540721535682678,
        0.5739144682884216,
        -0.25881263613700867,
        -0.6442776322364807,
        1.2184844017028809,
        0.3552249073982239,
        -4.793409824371338,
        1.0763105154037476,
        -4.05096960067749,
        2.019015073776245,
        1.5768473148345947,
        0.9290445446968079,
        0.9058836698532104,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9313726425170898,
        -0.35286250710487366,
        0.5684250593185425,
        -0.25556477904319763,
        -0.6377435922622681,
        1.2105693817138672,
        0.3595666289329529,
        -4.784529685974121,
        1.0857940912246704,
        -4.040865898132324,
        2.0142734050750732,
        1.5749967098236084,
        0.9091556072235107,
        0.901254415512085
      ],
      "target_rad": [
        -0.9313726425170898,
        -0.4401625096797943,
        0.11052507162094116,
        -0.26046478748321533,
        -0.18474358320236206,
        1.5596693754196167,
        0.7086666226387024,
        -4.784529685974121,
        1.0857940912246704,
        -4.040865898132324,
        2.1015734672546387,
        2.0328967571258545,
        0.914055585861206,
        0.44825440645217896
      ],
      "elapsed_seconds": 0.00011597899720072746
    },
    {
      "call": 177,
      "physics_step": 708,
      "sim_time_s": 3.5399999999999467,
      "observation": [
        0.030501844361424446,
        -0.009670030325651169,
        -0.029417144134640694,
        -0.4180454909801483,
        -0.8350481390953064,
        -0.35767656564712524,
        -0.2704918384552002,
        -0.06998738646507263,
        0.9320499897003174,
        -0.2987264394760132,
        -0.5820034146308899,
        0.7012419104576111,
        0.2719612419605255,
        -2.9770050048828125,
        0.4402845799922943,
        -0.5336993932723999,
        0.30578142404556274,
        1.115354299545288,
        0.9593852162361145,
        0.9339298605918884,
        0.043115902692079544,
        -0.10531183332204819,
        -0.09413760155439377,
        -0.29921048879623413,
        -0.4068847894668579,
        0.002543349051848054,
        0.13867318630218506,
        -0.0005144081078469753,
        0.0008104916196316481,
        0.00039822395774535835,
        -0.0013628121232613921,
        -0.008150670677423477,
        -0.14988793432712555,
        -0.1677669882774353,
        -0.9313726425170898,
        -0.35286250710487366,
        0.5684250593185425,
        -0.25556477904319763,
        -0.6377435922622681,
        1.2105693817138672,
        0.3595666289329529,
        -4.784529685974121,
        1.0857940912246704,
        -4.040865898132324,
        2.0142734050750732,
        1.5749967098236084,
        0.9091556072235107,
        0.901254415512085,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9325813055038452,
        -0.3525308072566986,
        0.5656093955039978,
        -0.25256577134132385,
        -0.6330950260162354,
        1.2052974700927734,
        0.362013041973114,
        -4.778497219085693,
        1.0941828489303589,
        -4.035980224609375,
        2.0118165016174316,
        1.5733165740966797,
        0.8964946866035461,
        0.9000470042228699
      ],
      "target_rad": [
        -0.9325813055038452,
        -0.43983080983161926,
        0.10770940780639648,
        -0.25746577978134155,
        -0.18009501695632935,
        1.554397463798523,
        0.7111130356788635,
        -4.778497219085693,
        1.0941828489303589,
        -4.035980224609375,
        2.099116563796997,
        2.031216621398926,
        0.9013946652412415,
        0.44704699516296387
      ],
      "elapsed_seconds": 8.497602539137006e-05
    },
    {
      "call": 178,
      "physics_step": 712,
      "sim_time_s": 3.5599999999999463,
      "observation": [
        0.019187718629837036,
        -0.01653307117521763,
        -0.017021268606185913,
        -0.4178009629249573,
        -0.8353825807571411,
        -0.35718101263046265,
        -0.2698148190975189,
        -0.07136854529380798,
        0.9300318360328674,
        -0.3042016923427582,
        -0.5882618427276611,
        0.7012736201286316,
        0.2747223973274231,
        -2.9770023822784424,
        0.44030699133872986,
        -0.5336800813674927,
        0.3057267963886261,
        1.1152244806289673,
        0.9556291699409485,
        0.9300671815872192,
        0.029023967683315277,
        -0.04974713549017906,
        -0.10398083180189133,
        -0.2602770924568176,
        -0.2608386278152466,
        0.0011879001976922154,
        0.13757318258285522,
        0.000563036825042218,
        0.0010501978686079383,
        0.0012856901157647371,
        -0.0034491699188947678,
        -0.005498331040143967,
        -0.20292127132415771,
        -0.20343683660030365,
        -0.9325813055038452,
        -0.3525308072566986,
        0.5656093955039978,
        -0.25256577134132385,
        -0.6330950260162354,
        1.2052974700927734,
        0.362013041973114,
        -4.778497219085693,
        1.0941828489303589,
        -4.035980224609375,
        2.0118165016174316,
        1.5733165740966797,
        0.8964946866035461,
        0.9000470042228699,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9354875087738037,
        -0.3533508777618408,
        0.5634992718696594,
        -0.2507472634315491,
        -0.6294053792953491,
        1.2029694318771362,
        0.36410021781921387,
        -4.777579307556152,
        1.1015619039535522,
        -4.03652811050415,
        2.0126073360443115,
        1.572843074798584,
        0.887590765953064,
        0.9009293913841248
      ],
      "target_rad": [
        -0.9354875087738037,
        -0.4406508803367615,
        0.1055992841720581,
        -0.2556472718715668,
        -0.17640537023544312,
        1.5520694255828857,
        0.7132002115249634,
        -4.777579307556152,
        1.1015619039535522,
        -4.03652811050415,
        2.099907398223877,
        2.03074312210083,
        0.8924907445907593,
        0.44792938232421875
      ],
      "elapsed_seconds": 6.051396485418081e-05
    },
    {
      "call": 179,
      "physics_step": 716,
      "sim_time_s": 3.579999999999946,
      "observation": [
        0.014276217669248581,
        -0.024582047015428543,
        -0.011725546792149544,
        -0.4177302420139313,
        -0.8356084227561951,
        -0.3567351996898651,
        -0.26937952637672424,
        -0.07184192538261414,
        0.9278750419616699,
        -0.3089706003665924,
        -0.5918120741844177,
        0.7012870907783508,
        0.27748754620552063,
        -2.9769794940948486,
        0.44033342599868774,
        -0.5336463451385498,
        0.3056464195251465,
        1.115145206451416,
        0.9509047865867615,
        0.9259422421455383,
        0.01821371540427208,
        -0.010711709968745708,
        -0.10951467603445053,
        -0.22647789120674133,
        -0.1331077516078949,
        0.00044291632366366684,
        0.13806700706481934,
        0.001437370665371418,
        0.0012754119234159589,
        0.0018506053602322936,
        -0.004167522769421339,
        -0.0031345817260444164,
        -0.2499953955411911,
        -0.20524181425571442,
        -0.9354875087738037,
        -0.3533508777618408,
        0.5634992718696594,
        -0.2507472634315491,
        -0.6294053792953491,
        1.2029694318771362,
        0.36410021781921387,
        -4.777579307556152,
        1.1015619039535522,
        -4.03652811050415,
        2.0126073360443115,
        1.572843074798584,
        0.887590765953064,
        0.9009293913841248,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9387574195861816,
        -0.3551972508430481,
        0.5615491271018982,
        -0.24929167330265045,
        -0.6266269087791443,
        1.2018519639968872,
        0.36664655804634094,
        -4.779791355133057,
        1.1074997186660767,
        -4.0393571853637695,
        2.014618158340454,
        1.5724377632141113,
        0.8822556734085083,
        0.9027090668678284
      ],
      "target_rad": [
        -0.9387574195861816,
        -0.44249725341796875,
        0.10364913940429688,
        -0.25419166684150696,
        -0.17362689971923828,
        1.5509519577026367,
        0.7157465219497681,
        -4.779791355133057,
        1.1074997186660767,
        -4.0393571853637695,
        2.1019182205200195,
        2.0303378105163574,
        0.8871556520462036,
        0.44970905780792236
      ],
      "elapsed_seconds": 7.26149883121252e-05
    },
    {
      "call": 180,
      "physics_step": 720,
      "sim_time_s": 3.5999999999999455,
      "observation": [
        0.014818537048995495,
        -0.029691293835639954,
        -0.007834561169147491,
        -0.4177749752998352,
        -0.8357894420623779,
        -0.3562585115432739,
        -0.2690673768520355,
        -0.0719161182641983,
        0.9256898164749146,
        -0.31308114528656006,
        -0.5931787490844727,
        0.701290488243103,
        0.28028056025505066,
        -2.9769480228424072,
        0.44036272168159485,
        -0.533610999584198,
        0.30557626485824585,
        1.1150997877120972,
        0.9454706311225891,
        0.9221140146255493,
        0.014841433614492416,
        -0.0017180276336148381,
        -0.10847781598567963,
        -0.19334952533245087,
        -0.03528841212391853,
        5.064080687589012e-05,
        0.13974884152412415,
        0.0015252737794071436,
        0.0013881183695048094,
        0.0016068919794633985,
        -0.002960488898679614,
        -0.0019004857167601585,
        -0.2793933153152466,
        -0.18185913562774658,
        -0.9387574195861816,
        -0.3551972508430481,
        0.5615491271018982,
        -0.24929167330265045,
        -0.6266269087791443,
        1.2018519639968872,
        0.36664655804634094,
        -4.779791355133057,
        1.1074997186660767,
        -4.0393571853637695,
        2.014618158340454,
        1.5724377632141113,
        0.8822556734085083,
        0.9027090668678284,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9409328103065491,
        -0.35662928223609924,
        0.5601316690444946,
        -0.24752017855644226,
        -0.6239935159683228,
        1.2010663747787476,
        0.3688456118106842,
        -4.78242301940918,
        1.1118751764297485,
        -4.042501449584961,
        2.0162017345428467,
        1.571623682975769,
        0.8800916075706482,
        0.9044492244720459
      ],
      "target_rad": [
        -0.9409328103065491,
        -0.4439292848110199,
        0.10223168134689331,
        -0.25242018699645996,
        -0.17099350690841675,
        1.550166368484497,
        0.7179455757141113,
        -4.78242301940918,
        1.1118751764297485,
        -4.042501449584961,
        2.103501796722412,
        2.0295236110687256,
        0.8849915862083435,
        0.4514492154121399
      ],
      "elapsed_seconds": 4.6873989049345255e-05
    },
    {
      "call": 181,
      "physics_step": 724,
      "sim_time_s": 3.619999999999945,
      "observation": [
        0.01709510199725628,
        -0.02919788844883442,
        -0.005177143961191177,
        -0.41788578033447266,
        -0.8359562158584595,
        -0.35573679208755493,
        -0.26878559589385986,
        -0.07193627208471298,
        0.923583984375,
        -0.3165808618068695,
        -0.5933699607849121,
        0.7012918591499329,
        0.2830589711666107,
        -2.9769234657287598,
        0.4403914213180542,
        -0.5335863828659058,
        0.3055330514907837,
        1.1150692701339722,
        0.9397839307785034,
        0.9189431071281433,
        0.013889520429074764,
        -0.0008098480175249279,
        -0.10317603498697281,
        -0.1656447798013687,
        -0.002447795355692506,
        8.853878534864634e-05,
        0.13718855381011963,
        0.0010388522641733289,
        0.0013142003444954753,
        0.0010067904368042946,
        -0.0017840926302596927,
        -0.0013338334392756224,
        -0.2833666503429413,
        -0.1447082757949829,
        -0.9409328103065491,
        -0.35662928223609924,
        0.5601316690444946,
        -0.24752017855644226,
        -0.6239935159683228,
        1.2010663747787476,
        0.3688456118106842,
        -4.78242301940918,
        1.1118751764297485,
        -4.042501449584961,
        2.0162017345428467,
        1.571623682975769,
        0.8800916075706482,
        0.9044492244720459,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9410662651062012,
        -0.35679271817207336,
        0.559975266456604,
        -0.2446795403957367,
        -0.6210787296295166,
        1.1995428800582886,
        0.37018728256225586,
        -4.782294273376465,
        1.1154625415802002,
        -4.043721675872803,
        2.015882730484009,
        1.570431113243103,
        0.8792190551757812,
        0.9052046537399292
      ],
      "target_rad": [
        -0.9410662651062012,
        -0.444092720746994,
        0.10207527875900269,
        -0.2495795339345932,
        -0.1680787205696106,
        1.548642873764038,
        0.7192872762680054,
        -4.782294273376465,
        1.1154625415802002,
        -4.043721675872803,
        2.103182792663574,
        2.0283310413360596,
        0.8841190338134766,
        0.4522046446800232
      ],
      "elapsed_seconds": 0.0001297200215049088
    },
    {
      "call": 182,
      "physics_step": 728,
      "sim_time_s": 3.6399999999999446,
      "observation": [
        0.017413605004549026,
        -0.025180581957101822,
        -0.0037886626087129116,
        -0.4180018901824951,
        -0.8361150026321411,
        -0.35522690415382385,
        -0.26850393414497375,
        -0.0719509869813919,
        0.9216104745864868,
        -0.31955575942993164,
        -0.5933459401130676,
        0.7012939453125,
        0.2857109606266022,
        -2.9769091606140137,
        0.44041645526885986,
        -0.5335739254951477,
        0.30550310015678406,
        1.115046501159668,
        0.9342945218086243,
        0.9165287613868713,
        0.014129044488072395,
        -0.0007142737158574164,
        -0.09632737189531326,
        -0.1400432139635086,
        0.0022371644154191017,
        8.905398135539144e-05,
        0.12949971854686737,
        0.0005436546052806079,
        0.0011036432115361094,
        0.0004409555986057967,
        -0.0013044174993410707,
        -0.0010143737308681011,
        -0.26654380559921265,
        -0.1070687472820282,
        -0.9410662651062012,
        -0.35679271817207336,
        0.559975266456604,
        -0.2446795403957367,
        -0.6210787296295166,
        1.1995428800582886,
        0.37018728256225586,
        -4.782294273376465,
        1.1154625415802002,
        -4.043721675872803,
        2.015882730484009,
        1.570431113243103,
        0.8792190551757812,
        0.9052046537399292,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9397716522216797,
        -0.35593581199645996,
        0.5608209371566772,
        -0.24126029014587402,
        -0.6181275248527527,
        1.1974323987960815,
        0.3705989420413971,
        -4.779232501983643,
        1.1186870336532593,
        -4.043054580688477,
        2.0140540599823,
        1.5690587759017944,
        0.8787161111831665,
        0.9051641821861267
      ],
      "target_rad": [
        -0.9397716522216797,
        -0.4432358145713806,
        0.10292094945907593,
        -0.24616028368473053,
        -0.16512751579284668,
        1.546532392501831,
        0.7196989059448242,
        -4.779232501983643,
        1.1186870336532593,
        -4.043054580688477,
        2.1013541221618652,
        2.026958703994751,
        0.8836160898208618,
        0.4521641731262207
      ],
      "elapsed_seconds": 0.00016252201749011874
    },
    {
      "call": 183,
      "physics_step": 732,
      "sim_time_s": 3.659999999999944,
      "observation": [
        0.01735837385058403,
        -0.021555161103606224,
        -0.0016611784230917692,
        -0.4181244969367981,
        -0.8362583518028259,
        -0.3547448515892029,
        -0.2682187855243683,
        -0.0719636008143425,
        0.9197723865509033,
        -0.3219852149486542,
        -0.5930958986282349,
        0.7012922763824463,
        0.28819289803504944,
        -2.976902961730957,
        0.4404366612434387,
        -0.5335695743560791,
        0.3054805397987366,
        1.1150283813476562,
        0.9293169975280762,
        0.914786696434021,
        0.014263223856687546,
        -0.0005876799114048481,
        -0.08970530331134796,
        -0.11199335753917694,
        0.017685025930404663,
        -0.000153812812641263,
        0.1208728551864624,
        0.00019063803483732045,
        0.0008711015689186752,
        0.00010641774133546278,
        -0.0009901809971779585,
        -0.0008128064800985157,
        -0.23686233162879944,
        -0.07593017816543579,
        -0.9397716522216797,
        -0.35593581199645996,
        0.5608209371566772,
        -0.24126029014587402,
        -0.6181275248527527,
        1.1974323987960815,
        0.3705989420413971,
        -4.779232501983643,
        1.1186870336532593,
        -4.043054580688477,
        2.0140540599823,
        1.5690587759017944,
        0.8787161111831665,
        0.9051641821861267,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9380505084991455,
        -0.35477712750434875,
        0.562282145023346,
        -0.23793944716453552,
        -0.6156181693077087,
        1.195482850074768,
        0.3702669143676758,
        -4.77492618560791,
        1.1215529441833496,
        -4.041928291320801,
        2.0118911266326904,
        1.5677475929260254,
        0.8788605332374573,
        0.9051425457000732
      ],
      "target_rad": [
        -0.9380505084991455,
        -0.4420771300792694,
        0.10438215732574463,
        -0.24283944070339203,
        -0.16261816024780273,
        1.5445828437805176,
        0.7193669080734253,
        -4.77492618560791,
        1.1215529441833496,
        -4.041928291320801,
        2.099191188812256,
        2.0256476402282715,
        0.8837605118751526,
        0.45214253664016724
      ],
      "elapsed_seconds": 6.0744991060346365e-05
    },
    {
      "call": 184,
      "physics_step": 736,
      "sim_time_s": 3.6799999999999438,
      "observation": [
        0.016525354236364365,
        -0.01775343529880047,
        0.00037757281097583473,
        -0.4182553291320801,
        -0.8363798260688782,
        -0.3543039858341217,
        -0.26793017983436584,
        -0.07197275757789612,
        0.9180644154548645,
        -0.3238431513309479,
        -0.5924727320671082,
        0.7012854218482971,
        0.29049158096313477,
        -2.9769020080566406,
        0.44045206904411316,
        -0.5335703492164612,
        0.3054625689983368,
        1.115013599395752,
        0.9250427484512329,
        0.9135866761207581,
        0.014440687373280525,
        -0.00039609448867850006,
        -0.08330792933702469,
        -0.08337566256523132,
        0.03763977810740471,
        -0.0004070787981618196,
        0.11162373423576355,
        -1.652765422477387e-05,
        0.000646292173769325,
        -0.00010811920219566673,
        -0.0008019348024390638,
        -0.0006636650068685412,
        -0.1993565559387207,
        -0.05121820420026779,
        -0.9380505084991455,
        -0.35477712750434875,
        0.562282145023346,
        -0.23793944716453552,
        -0.6156181693077087,
        1.195482850074768,
        0.3702669143676758,
        -4.77492618560791,
        1.1215529441833496,
        -4.041928291320801,
        2.0118911266326904,
        1.5677475929260254,
        0.8788605332374573,
        0.9051425457000732,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9361752867698669,
        -0.3535231053829193,
        0.564010500907898,
        -0.23504993319511414,
        -0.613667368888855,
        1.1936568021774292,
        0.3695846199989319,
        -4.770139217376709,
        1.123903512954712,
        -4.040235996246338,
        2.009518623352051,
        1.566504955291748,
        0.8794471621513367,
        0.9050270318984985
      ],
      "target_rad": [
        -0.9361752867698669,
        -0.44082310795783997,
        0.10611051321029663,
        -0.23994992673397064,
        -0.16066735982894897,
        1.5427567958831787,
        0.7186846137046814,
        -4.770139217376709,
        1.123903512954712,
        -4.040235996246338,
        2.096818685531616,
        2.024405002593994,
        0.884347140789032,
        0.45202702283859253
      ],
      "elapsed_seconds": 0.0001060780487023294
    },
    {
      "call": 185,
      "physics_step": 740,
      "sim_time_s": 3.6999999999999433,
      "observation": [
        0.015398175455629826,
        -0.013914797455072403,
        0.00211435928940773,
        -0.41838979721069336,
        -0.8364781737327576,
        -0.3539128005504608,
        -0.2676379084587097,
        -0.07197771221399307,
        0.91647869348526,
        -0.3251552879810333,
        -0.5914725065231323,
        0.7012740969657898,
        0.29260289669036865,
        -2.9769041538238525,
        0.44046294689178467,
        -0.5335744023323059,
        0.30544722080230713,
        1.1150013208389282,
        0.9215711355209351,
        0.9128003716468811,
        0.01460674311965704,
        -0.00017741283227223903,
        -0.0773785263299942,
        -0.0569271482527256,
        0.05566985532641411,
        -0.000612574047408998,
        0.1023109033703804,
        -0.00013049157860223204,
        0.0004338375001680106,
        -0.00024049154308158904,
        -0.0006948006921447814,
        -0.0005496768862940371,
        -0.15839065611362457,
        -0.032831136137247086,
        -0.9361752867698669,
        -0.3535231053829193,
        0.564010500907898,
        -0.23504993319511414,
        -0.613667368888855,
        1.1936568021774292,
        0.3695846199989319,
        -4.770139217376709,
        1.123903512954712,
        -4.040235996246338,
        2.009518623352051,
        1.566504955291748,
        0.8794471621513367,
        0.9050270318984985,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9342684149742126,
        -0.3522339463233948,
        0.5658812522888184,
        -0.23263311386108398,
        -0.612238883972168,
        1.1920162439346313,
        0.3686758577823639,
        -4.765183925628662,
        1.1257505416870117,
        -4.0380988121032715,
        2.0070724487304688,
        1.5653749704360962,
        0.8801910877227783,
        0.9047676920890808
      ],
      "target_rad": [
        -0.9342684149742126,
        -0.43953394889831543,
        0.10798126459121704,
        -0.2375331073999405,
        -0.15923887491226196,
        1.5411162376403809,
        0.717775821685791,
        -4.765183925628662,
        1.1257505416870117,
        -4.0380988121032715,
        2.094372510910034,
        2.0232748985290527,
        0.8850910663604736,
        0.4517676830291748
      ],
      "elapsed_seconds": 0.00013766001211479306
    },
    {
      "call": 186,
      "physics_step": 744,
      "sim_time_s": 3.719999999999943,
      "observation": [
        0.016524920240044594,
        -0.010108276270329952,
        0.0007642176351509988,
        -0.4184935986995697,
        -0.8365798592567444,
        -0.3535495400428772,
        -0.2673394978046417,
        -0.07197991758584976,
        0.9150039553642273,
        -0.3259986340999603,
        -0.590142548084259,
        0.7012593150138855,
        0.29453206062316895,
        -2.9769065380096436,
        0.4404694139957428,
        -0.5335801839828491,
        0.3054334223270416,
        1.1149910688400269,
        0.918919563293457,
        0.9123050570487976,
        0.014945236966013908,
        -0.00010014651343226433,
        -0.0721089243888855,
        -0.035258643329143524,
        0.07175742834806442,
        -0.0007688364712521434,
        0.09347932785749435,
        -0.00012004718882963061,
        0.0002289939293405041,
        -0.0003042971948161721,
        -0.0006313322810456157,
        -0.0004596910148393363,
        -0.11787267029285431,
        -0.020405150949954987,
        -0.9342684149742126,
        -0.3522339463233948,
        0.5658812522888184,
        -0.23263311386108398,
        -0.612238883972168,
        1.1920162439346313,
        0.3686758577823639,
        -4.765183925628662,
        1.1257505416870117,
        -4.0380988121032715,
        2.0070724487304688,
        1.5653749704360962,
        0.8801910877227783,
        0.9047676920890808,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.932272732257843,
        -0.3511260449886322,
        0.5679191946983337,
        -0.23068369925022125,
        -0.6116096377372742,
        1.1906737089157104,
        0.3677036464214325,
        -4.760175704956055,
        1.1269781589508057,
        -4.035521507263184,
        2.0046374797821045,
        1.5642518997192383,
        0.8813456892967224,
        0.9044789671897888
      ],
      "target_rad": [
        -0.932272732257843,
        -0.43842604756355286,
        0.11001920700073242,
        -0.23558369278907776,
        -0.15860962867736816,
        1.53977370262146,
        0.7168036699295044,
        -4.760175704956055,
        1.1269781589508057,
        -4.035521507263184,
        2.09193754196167,
        2.0221519470214844,
        0.8862456679344177,
        0.4514789581298828
      ],
      "elapsed_seconds": 7.657601963728666e-05
    },
    {
      "call": 187,
      "physics_step": 748,
      "sim_time_s": 3.7399999999999425,
      "observation": [
        0.014981571584939957,
        -0.0068108453415334225,
        0.002553595695644617,
        -0.4185808598995209,
        -0.8366743326187134,
        -0.35322242975234985,
        -0.26704075932502747,
        -0.07198002934455872,
        0.9136232733726501,
        -0.32645606994628906,
        -0.5886042714118958,
        0.701242208480835,
        0.2962932586669922,
        -2.97691011428833,
        0.4404720962047577,
        -0.5335867404937744,
        0.3054206967353821,
        1.1149823665618896,
        0.9170559048652649,
        0.9119983315467834,
        0.014821017161011696,
        5.527197936316952e-05,
        -0.06764371693134308,
        -0.01702425442636013,
        0.07852094620466232,
        -0.000858660729136318,
        0.08525059372186661,
        -0.0001930868165800348,
        6.226969708222896e-05,
        -0.0003337306552566588,
        -0.0005868367152288556,
        -0.00038687599590048194,
        -0.07954839617013931,
        -0.012607044540345669,
        -0.932272732257843,
        -0.3511260449886322,
        0.5679191946983337,
        -0.23068369925022125,
        -0.6116096377372742,
        1.1906737089157104,
        0.3677036464214325,
        -4.760175704956055,
        1.1269781589508057,
        -4.035521507263184,
        2.0046374797821045,
        1.5642518997192383,
        0.8813456892967224,
        0.9044789671897888,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9304261803627014,
        -0.34980374574661255,
        0.5698307156562805,
        -0.22921235859394073,
        -0.6110467910766602,
        1.1894327402114868,
        0.3665807247161865,
        -4.755324363708496,
        1.1279072761535645,
        -4.032708168029785,
        2.002249002456665,
        1.563386082649231,
        0.8819268941879272,
        0.9039129614830017
      ],
      "target_rad": [
        -0.9304261803627014,
        -0.4371037483215332,
        0.1119307279586792,
        -0.23411235213279724,
        -0.15804678201675415,
        1.5385327339172363,
        0.715680718421936,
        -4.755324363708496,
        1.1279072761535645,
        -4.032708168029785,
        2.0895490646362305,
        2.0212860107421875,
        0.8868268728256226,
        0.4509129524230957
      ],
      "elapsed_seconds": 0.0001425610389560461
    },
    {
      "call": 188,
      "physics_step": 752,
      "sim_time_s": 3.759999999999942,
      "observation": [
        0.013354068621993065,
        -0.003924760967493057,
        0.004229553509503603,
        -0.41867759823799133,
        -0.8367409110069275,
        -0.3529500365257263,
        -0.2667440176010132,
        -0.07197530567646027,
        0.9123212695121765,
        -0.3266097903251648,
        -0.5870224833488464,
        0.7012238502502441,
        0.2978937029838562,
        -2.976914167404175,
        0.4404716193675995,
        -0.5335935354232788,
        0.30540865659713745,
        1.1149753332138062,
        0.9158761501312256,
        0.9117865562438965,
        0.014750250615179539,
        0.00032734728301875293,
        -0.06412796676158905,
        -0.004148834850639105,
        0.07827465981245041,
        -0.0009221277432516217,
        0.07748610526323318,
        -0.00019796717970166355,
        -8.164800965460017e-05,
        -0.0003353680658619851,
        -0.0005544573068618774,
        -0.0003153601719532162,
        -0.047830913215875626,
        -0.009453516453504562,
        -0.9304261803627014,
        -0.34980374574661255,
        0.5698307156562805,
        -0.22921235859394073,
        -0.6110467910766602,
        1.1894327402114868,
        0.3665807247161865,
        -4.755324363708496,
        1.1279072761535645,
        -4.032708168029785,
        2.002249002456665,
        1.563386082649231,
        0.8819268941879272,
        0.9039129614830017,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9288405776023865,
        -0.34858518838882446,
        0.5715310573577881,
        -0.22809885442256927,
        -0.6106557250022888,
        1.1884160041809082,
        0.36544930934906006,
        -4.75098180770874,
        1.128638744354248,
        -4.030062675476074,
        2.000154972076416,
        1.5626773834228516,
        0.8821202516555786,
        0.903282105922699
      ],
      "target_rad": [
        -0.9288405776023865,
        -0.4358851909637451,
        0.11363106966018677,
        -0.23299884796142578,
        -0.1576557159423828,
        1.5375159978866577,
        0.7145493030548096,
        -4.75098180770874,
        1.128638744354248,
        -4.030062675476074,
        2.0874550342559814,
        2.0205774307250977,
        0.8870202302932739,
        0.45028209686279297
      ],
      "elapsed_seconds": 0.00010715803364291787
    },
    {
      "call": 189,
      "physics_step": 756,
      "sim_time_s": 3.7799999999999416,
      "observation": [
        0.012331122532486916,
        -0.0022833349648863077,
        0.004881332162767649,
        -0.4187771677970886,
        -0.8367900252342224,
        -0.35271531343460083,
        -0.2664484679698944,
        -0.07196393609046936,
        0.9110573530197144,
        -0.32665467262268066,
        -0.5855314135551453,
        0.7012037634849548,
        0.29936522245407104,
        -2.976917028427124,
        0.4404686689376831,
        -0.5335995554924011,
        0.30539757013320923,
        1.1149696111679077,
        0.9152292609214783,
        0.9115940928459167,
        0.014682943932712078,
        0.0006791273481212556,
        -0.06284849345684052,
        -0.0016977236373350024,
        0.07162949442863464,
        -0.0009998176246881485,
        0.07167564332485199,
        -0.00012079824227839708,
        -0.0001866214006440714,
        -0.0002785618416965008,
        -0.0005064652650617063,
        -0.00025035280850715935,
        -0.024102451279759407,
        -0.009593854658305645,
        -0.9288405776023865,
        -0.34858518838882446,
        0.5715310573577881,
        -0.22809885442256927,
        -0.6106557250022888,
        1.1884160041809082,
        0.36544930934906006,
        -4.75098180770874,
        1.128638744354248,
        -4.030062675476074,
        2.000154972076416,
        1.5626773834228516,
        0.8821202516555786,
        0.903282105922699,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9275245666503906,
        -0.34755000472068787,
        0.5730321407318115,
        -0.22729948163032532,
        -0.6103891134262085,
        1.1877514123916626,
        0.3644953966140747,
        -4.747384071350098,
        1.1292767524719238,
        -4.027777671813965,
        1.9984837770462036,
        1.5621650218963623,
        0.8819219470024109,
        0.9026456475257874
      ],
      "target_rad": [
        -0.9275245666503906,
        -0.4348500072956085,
        0.1151321530342102,
        -0.23219947516918182,
        -0.1573891043663025,
        1.536851406097412,
        0.7135953903198242,
        -4.747384071350098,
        1.1292767524719238,
        -4.027777671813965,
        2.0857837200164795,
        2.0200650691986084,
        0.8868219256401062,
        0.44964563846588135
      ],
      "elapsed_seconds": 0.00014634098624810576
    },
    {
      "call": 190,
      "physics_step": 760,
      "sim_time_s": 3.799999999999941,
      "observation": [
        0.016508838161826134,
        0.00017641583690419793,
        0.0001807788503356278,
        -0.41883403062820435,
        -0.8368627429008484,
        -0.35247522592544556,
        -0.26615670323371887,
        -0.0719439834356308,
        0.9098166227340698,
        -0.3266778290271759,
        -0.5842282772064209,
        0.7011838555335999,
        0.30072852969169617,
        -2.9769184589385986,
        0.4404640793800354,
        -0.5336045622825623,
        0.3053877353668213,
        1.1149649620056152,
        0.9149503111839294,
        0.9113725423812866,
        0.014369459822773933,
        0.0012351491022855043,
        -0.061594367027282715,
        -0.0009621516219340265,
        0.06037222594022751,
        -0.0009416444227099419,
        0.06619841605424881,
        -4.162935147178359e-05,
        -0.00025993716553784907,
        -0.00023877616331446916,
        -0.00044448961853049695,
        -0.00020720192696899176,
        -0.008547784760594368,
        -0.01170058362185955,
        -0.9275245666503906,
        -0.34755000472068787,
        0.5730321407318115,
        -0.22729948163032532,
        -0.6103891134262085,
        1.1877514123916626,
        0.3644953966140747,
        -4.747384071350098,
        1.1292767524719238,
        -4.027777671813965,
        1.9984837770462036,
        1.5621650218963623,
        0.8819219470024109,
        0.9026456475257874,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9261081218719482,
        -0.3469184339046478,
        0.5746310353279114,
        -0.22661855816841125,
        -0.6107983589172363,
        1.187305212020874,
        0.36375313997268677,
        -4.743991851806641,
        1.1295393705368042,
        -4.025383472442627,
        1.9969267845153809,
        1.5614802837371826,
        0.882390558719635,
        0.9021923542022705
      ],
      "target_rad": [
        -0.9261081218719482,
        -0.4342184364795685,
        0.11673104763031006,
        -0.23151855170726776,
        -0.15779834985733032,
        1.5364052057266235,
        0.7128531336784363,
        -4.743991851806641,
        1.1295393705368042,
        -4.025383472442627,
        2.0842268466949463,
        2.0193803310394287,
        0.8872905373573303,
        0.4491923451423645
      ],
      "elapsed_seconds": 6.892503006383777e-05
    },
    {
      "call": 191,
      "physics_step": 764,
      "sim_time_s": 3.8199999999999408,
      "observation": [
        0.01119101420044899,
        0.0010195598006248474,
        0.005458258558064699,
        -0.4189023971557617,
        -0.8369135856628418,
        -0.35227319598197937,
        -0.2658754587173462,
        -0.07192026823759079,
        0.9085965156555176,
        -0.32669150829315186,
        -0.5831918716430664,
        0.7011646628379822,
        0.3019971549510956,
        -2.9769208431243896,
        0.440458744764328,
        -0.5336087346076965,
        0.3053792715072632,
        1.1149615049362183,
        0.9148705005645752,
        0.9111079573631287,
        0.013986493460834026,
        0.001215582829900086,
        -0.0606408417224884,
        -0.0006117630982771516,
        0.047059912234544754,
        -0.0009196382015943527,
        0.06192551553249359,
        -0.00011292743147350848,
        -0.0002804922987706959,
        -0.00019628524023573846,
        -0.0003867899940814823,
        -0.0001523298560641706,
        -0.002729341620579362,
        -0.013854383490979671,
        -0.9261081218719482,
        -0.3469184339046478,
        0.5746310353279114,
        -0.22661855816841125,
        -0.6107983589172363,
        1.187305212020874,
        0.36375313997268677,
        -4.743991851806641,
        1.1295393705368042,
        -4.025383472442627,
        1.9969267845153809,
        1.5614802837371826,
        0.882390558719635,
        0.9021923542022705,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9254294633865356,
        -0.34580251574516296,
        0.5754715800285339,
        -0.22644510865211487,
        -0.6101747751235962,
        1.1868512630462646,
        0.3629559576511383,
        -4.741563320159912,
        1.1301658153533936,
        -4.0236029624938965,
        1.995837688446045,
        1.5613926649093628,
        0.8811156153678894,
        0.9014101028442383
      ],
      "target_rad": [
        -0.9254294633865356,
        -0.4331025183200836,
        0.11757159233093262,
        -0.23134510219097137,
        -0.15717476606369019,
        1.5359512567520142,
        0.7120559215545654,
        -4.741563320159912,
        1.1301658153533936,
        -4.0236029624938965,
        2.0831377506256104,
        2.0192925930023193,
        0.8860155940055847,
        0.4484100937843323
      ],
      "elapsed_seconds": 0.00011040904792025685
    },
    {
      "call": 192,
      "physics_step": 768,
      "sim_time_s": 3.8399999999999403,
      "observation": [
        0.01311512477695942,
        0.002930843736976385,
        0.0032033005263656378,
        -0.41893771290779114,
        -0.8369808197021484,
        -0.3520714342594147,
        -0.26559922099113464,
        -0.07188810408115387,
        0.9073969125747681,
        -0.326699823141098,
        -0.582384467124939,
        0.701147198677063,
        0.3031746745109558,
        -2.976922035217285,
        0.4404529631137848,
        -0.5336124300956726,
        0.305372029542923,
        1.1149588823318481,
        0.9148210287094116,
        0.9107807874679565,
        0.01346766296774149,
        0.0017198602436110377,
        -0.059798985719680786,
        -0.0003401431313250214,
        0.03623146563768387,
        -0.0008509690524078906,
        0.057413339614868164,
        -9.470299846725538e-05,
        -0.0002853874466381967,
        -0.0001757772552082315,
        -0.0003157039755024016,
        -0.00010561233648331836,
        -0.00241583283059299,
        -0.017375653609633446,
        -0.9254294633865356,
        -0.34580251574516296,
        0.5754715800285339,
        -0.22644510865211487,
        -0.6101747751235962,
        1.1868512630462646,
        0.3629559576511383,
        -4.741563320159912,
        1.1301658153533936,
        -4.0236029624938965,
        1.995837688446045,
        1.5613926649093628,
        0.8811156153678894,
        0.9014101028442383,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9247562289237976,
        -0.34539008140563965,
        0.5762629508972168,
        -0.2261315882205963,
        -0.6102077960968018,
        1.1864361763000488,
        0.36249229311943054,
        -4.739439010620117,
        1.1305818557739258,
        -4.021947860717773,
        1.9949073791503906,
        1.560929536819458,
        0.8806723356246948,
        0.9010008573532104
      ],
      "target_rad": [
        -0.9247562289237976,
        -0.4326900839805603,
        0.11836296319961548,
        -0.23103158175945282,
        -0.15720778703689575,
        1.5355361700057983,
        0.7115923166275024,
        -4.739439010620117,
        1.1305818557739258,
        -4.021947860717773,
        2.082207441329956,
        2.018829584121704,
        0.8855723142623901,
        0.44800084829330444
      ],
      "elapsed_seconds": 0.00011158897541463375
    },
    {
      "call": 193,
      "physics_step": 772,
      "sim_time_s": 3.85999999999994,
      "observation": [
        0.008171302266418934,
        0.003357713809236884,
        0.008305753581225872,
        -0.41903388500213623,
        -0.8369876146316528,
        -0.3519408106803894,
        -0.26533424854278564,
        -0.0718517005443573,
        0.9062080383300781,
        -0.3267030715942383,
        -0.5817910432815552,
        0.7011304497718811,
        0.30428174138069153,
        -2.976924180984497,
        0.44044771790504456,
        -0.5336155891418457,
        0.3053661584854126,
        1.1149568557739258,
        0.9147712588310242,
        0.9104002714157104,
        0.013150351122021675,
        0.0019689530599862337,
        -0.059204425662755966,
        -6.511275569209829e-05,
        0.025193018838763237,
        -0.0007868894608691335,
        0.05417683720588684,
        -9.483943722443655e-05,
        -0.00026210324722342193,
        -0.000152942055137828,
        -0.00026608718326315284,
        -9.929302905220538e-05,
        -0.0024964564945548773,
        -0.0196120236068964,
        -0.9247562289237976,
        -0.34539008140563965,
        0.5762629508972168,
        -0.2261315882205963,
        -0.6102077960968018,
        1.1864361763000488,
        0.36249229311943054,
        -4.739439010620117,
        1.1305818557739258,
        -4.021947860717773,
        1.9949073791503906,
        1.560929536819458,
        0.8806723356246948,
        0.9010008573532104,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9245449900627136,
        -0.34453117847442627,
        0.5767770409584045,
        -0.22607576847076416,
        -0.6094250679016113,
        1.186120867729187,
        0.3619031310081482,
        -4.737995624542236,
        1.1314013004302979,
        -4.020853519439697,
        1.9942693710327148,
        1.5609004497528076,
        0.8791684508323669,
        0.9003617167472839
      ],
      "target_rad": [
        -0.9245449900627136,
        -0.4318311810493469,
        0.11887705326080322,
        -0.23097576200962067,
        -0.15642505884170532,
        1.5352208614349365,
        0.7110031247138977,
        -4.737995624542236,
        1.1314013004302979,
        -4.020853519439697,
        2.0815694332122803,
        2.0188004970550537,
        0.8840684294700623,
        0.44736170768737793
      ],
      "elapsed_seconds": 6.61049853079021e-05
    },
    {
      "call": 194,
      "physics_step": 776,
      "sim_time_s": 3.8799999999999395,
      "observation": [
        0.014851048588752747,
        0.007519152015447617,
        0.0015117423608899117,
        -0.4190657436847687,
        -0.8370362520217896,
        -0.3517872095108032,
        -0.2651023268699646,
        -0.07180770486593246,
        0.9050716757774353,
        -0.32669615745544434,
        -0.5815192461013794,
        0.7011200785636902,
        0.3052566349506378,
        -2.976929187774658,
        0.4404427111148834,
        -0.533618152141571,
        0.3053637742996216,
        1.1149548292160034,
        0.914678692817688,
        0.909970760345459,
        0.01042085886001587,
        0.0022666985169053078,
        -0.055321864783763885,
        0.0006020439323037863,
        0.006150043569505215,
        -0.00038336077705025673,
        0.04507043957710266,
        -0.0003917053691111505,
        -0.00025842292234301567,
        -0.00011214790720259771,
        -1.1278319789198576e-06,
        -9.451954247197136e-05,
        -0.005624568089842796,
        -0.022128311917185783,
        -0.9245449900627136,
        -0.34453117847442627,
        0.5767770409584045,
        -0.22607576847076416,
        -0.6094250679016113,
        1.186120867729187,
        0.3619031310081482,
        -4.737995624542236,
        1.1314013004302979,
        -4.020853519439697,
        1.9942693710327148,
        1.5609004497528076,
        0.8791684508323669,
        0.9003617167472839,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9236248135566711,
        -0.34443578124046326,
        0.5776792168617249,
        -0.2255774438381195,
        -0.6098657846450806,
        1.185766339302063,
        0.361575722694397,
        -4.736208915710449,
        1.13156259059906,
        -4.019327163696289,
        1.9933911561965942,
        1.5602507591247559,
        0.879554808139801,
        0.9001075029373169
      ],
      "target_rad": [
        -0.9236248135566711,
        -0.4317357838153839,
        0.11977922916412354,
        -0.230477437376976,
        -0.15686577558517456,
        1.5348663330078125,
        0.7106757164001465,
        -4.736208915710449,
        1.13156259059906,
        -4.019327163696289,
        2.08069109916687,
        2.018150806427002,
        0.8844547867774963,
        0.4471074938774109
      ],
      "elapsed_seconds": 0.00010357802966609597
    },
    {
      "call": 195,
      "physics_step": 780,
      "sim_time_s": 3.899999999999939,
      "observation": [
        0.012174245901405811,
        0.007743488065898418,
        0.003278427291661501,
        -0.4190696179866791,
        -0.8370946049690247,
        -0.35164374113082886,
        -0.2648765742778778,
        -0.07175952196121216,
        0.903957724571228,
        -0.3266834020614624,
        -0.5814424753189087,
        0.7011079788208008,
        0.30613625049591064,
        -2.9769349098205566,
        0.4404376447200775,
        -0.5336204171180725,
        0.30536240339279175,
        1.1149529218673706,
        0.9145601391792297,
        0.9095178842544556,
        0.011452830396592617,
        0.0025138624478131533,
        -0.05530305579304695,
        0.0006968033849261701,
        0.0028583896346390247,
        -0.0005571389338001609,
        0.04310555383563042,
        -0.00022915576118975878,
        -0.00025566297699697316,
        -9.77382151177153e-05,
        -6.358444807119668e-05,
        -0.00010096090409206226,
        -0.005869104992598295,
        -0.022629115730524063,
        -0.9236248135566711,
        -0.34443578124046326,
        0.5776792168617249,
        -0.2255774438381195,
        -0.6098657846450806,
        1.185766339302063,
        0.361575722694397,
        -4.736208915710449,
        1.13156259059906,
        -4.019327163696289,
        1.9933911561965942,
        1.5602507591247559,
        0.879554808139801,
        0.9001075029373169,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9232292771339417,
        -0.34372690320014954,
        0.5784642696380615,
        -0.22572772204875946,
        -0.6096187829971313,
        1.1856313943862915,
        0.36109164357185364,
        -4.734600067138672,
        1.1320452690124512,
        -4.0179266929626465,
        1.9927300214767456,
        1.5601646900177002,
        0.8788427710533142,
        0.8996537923812866
      ],
      "target_rad": [
        -0.9232292771339417,
        -0.4310269057750702,
        0.1205642819404602,
        -0.23062771558761597,
        -0.15661877393722534,
        1.534731388092041,
        0.7101916074752808,
        -4.734600067138672,
        1.1320452690124512,
        -4.0179266929626465,
        2.0800299644470215,
        2.0180647373199463,
        0.8837427496910095,
        0.4466537833213806
      ],
      "elapsed_seconds": 6.125500658527017e-05
    },
    {
      "call": 196,
      "physics_step": 784,
      "sim_time_s": 3.9199999999999386,
      "observation": [
        0.008294649422168732,
        0.007053125649690628,
        0.006544626317918301,
        -0.41909313201904297,
        -0.8371301293373108,
        -0.351531058549881,
        -0.2646479606628418,
        -0.07166413962841034,
        0.9028340578079224,
        -0.326668918132782,
        -0.5813831686973572,
        0.7010946273803711,
        0.3069876730442047,
        -2.9769372940063477,
        0.4404330849647522,
        -0.5336222052574158,
        0.3053598999977112,
        1.114951491355896,
        0.9144062995910645,
        0.9090572595596313,
        0.012082180008292198,
        0.00548601197078824,
        -0.056964728981256485,
        0.0005345428362488747,
        0.004037346690893173,
        -0.0007465431117452681,
        0.04334000498056412,
        3.0911080102669075e-05,
        -0.00021449416817631572,
        -9.7306736279279e-05,
        -0.00018299234216101468,
        -5.5463126045651734e-05,
        -0.008589930832386017,
        -0.02290479466319084,
        -0.9232292771339417,
        -0.34372690320014954,
        0.5784642696380615,
        -0.22572772204875946,
        -0.6096187829971313,
        1.1856313943862915,
        0.36109164357185364,
        -4.734600067138672,
        1.1320452690124512,
        -4.0179266929626465,
        1.9927300214767456,
        1.5601646900177002,
        0.8788427710533142,
        0.8996537923812866,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9233567714691162,
        -0.34330570697784424,
        0.5787754654884338,
        -0.2259289175271988,
        -0.6091359257698059,
        1.1854546070098877,
        0.3607933819293976,
        -4.733617305755615,
        1.1327590942382812,
        -4.017096996307373,
        1.9924521446228027,
        1.5601980686187744,
        0.8776562213897705,
        0.8993430137634277
      ],
      "target_rad": [
        -0.9233567714691162,
        -0.4306057095527649,
        0.12087547779083252,
        -0.2308289110660553,
        -0.1561359167098999,
        1.5345546007156372,
        0.7098933458328247,
        -4.733617305755615,
        1.1327590942382812,
        -4.017096996307373,
        2.079752206802368,
        2.0180981159210205,
        0.8825562000274658,
        0.44634300470352173
      ],
      "elapsed_seconds": 6.524496711790562e-05
    },
    {
      "call": 197,
      "physics_step": 788,
      "sim_time_s": 3.939999999999938,
      "observation": [
        0.009340695105493069,
        0.008012065663933754,
        0.005466270260512829,
        -0.4191017150878906,
        -0.8371736407279968,
        -0.3514172434806824,
        -0.26445263624191284,
        -0.07147877663373947,
        0.9017036557197571,
        -0.32665178179740906,
        -0.5813243389129639,
        0.701083779335022,
        0.3077983260154724,
        -2.976938247680664,
        0.4404294490814209,
        -0.533623456954956,
        0.30535805225372314,
        1.11495041847229,
        0.9141618609428406,
        0.9085996747016907,
        0.009470667690038681,
        0.011718211695551872,
        -0.05773037672042847,
        0.000747277750633657,
        0.0031197872012853622,
        -0.0006336038350127637,
        0.04081368073821068,
        9.45864030654775e-06,
        -0.0001641450508031994,
        -7.507589180022478e-05,
        -0.00013132867752574384,
        -2.7567737561184913e-05,
        -0.014165706932544708,
        -0.022500257939100266,
        -0.9233567714691162,
        -0.34330570697784424,
        0.5787754654884338,
        -0.2259289175271988,
        -0.6091359257698059,
        1.1854546070098877,
        0.3607933819293976,
        -4.733617305755615,
        1.1327590942382812,
        -4.017096996307373,
        1.9924521446228027,
        1.5601980686187744,
        0.8776562213897705,
        0.8993430137634277,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9233552813529968,
        -0.34332117438316345,
        0.5792620778083801,
        -0.22590290009975433,
        -0.6091660261154175,
        1.1853327751159668,
        0.36062365770339966,
        -4.732643127441406,
        1.1333051919937134,
        -4.016330718994141,
        1.9922033548355103,
        1.559990406036377,
        0.8771868944168091,
        0.8992437720298767
      ],
      "target_rad": [
        -0.9233552813529968,
        -0.4306211769580841,
        0.12136209011077881,
        -0.23080289363861084,
        -0.15616601705551147,
        1.5344327688217163,
        0.7097236514091492,
        -4.732643127441406,
        1.1333051919937134,
        -4.016330718994141,
        2.079503297805786,
        2.017890453338623,
        0.8820868730545044,
        0.4462437629699707
      ],
      "elapsed_seconds": 0.0001595020294189453
    },
    {
      "call": 198,
      "physics_step": 792,
      "sim_time_s": 3.959999999999938,
      "observation": [
        0.007898272015154362,
        0.007711939513683319,
        0.006570922676473856,
        -0.419155478477478,
        -0.8371763825416565,
        -0.351346492767334,
        -0.2642706334590912,
        -0.07119517773389816,
        0.900536060333252,
        -0.3266392648220062,
        -0.5812289714813232,
        0.7010716199874878,
        0.3086179196834564,
        -2.976935625076294,
        0.4404268264770508,
        -0.5336250066757202,
        0.3053548336029053,
        1.1149497032165527,
        0.913820207118988,
        0.9081697463989258,
        0.008765612728893757,
        0.015371597371995449,
        -0.0585925430059433,
        0.0005852393223904073,
        0.0058906120248138905,
        -0.0005687041557393968,
        0.040907833725214005,
        0.00017949900939129293,
        -0.00012615544255822897,
        -7.439677574438974e-05,
        -0.00015684243408031762,
        -4.085167165612802e-05,
        -0.01829664781689644,
        -0.020716240629553795,
        -0.9233552813529968,
        -0.34332117438316345,
        0.5792620778083801,
        -0.22590290009975433,
        -0.6091660261154175,
        1.1853327751159668,
        0.36062365770339966,
        -4.732643127441406,
        1.1333051919937134,
        -4.016330718994141,
        1.9922033548355103,
        1.559990406036377,
        0.8771868944168091,
        0.8992437720298767,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9235808849334717,
        -0.343192458152771,
        0.5797719359397888,
        -0.22604317963123322,
        -0.6089556813240051,
        1.1854844093322754,
        0.3603569269180298,
        -4.732056140899658,
        1.133975625038147,
        -4.016035556793213,
        1.9921951293945312,
        1.5599783658981323,
        0.8766207695007324,
        0.8991562724113464
      ],
      "target_rad": [
        -0.9235808849334717,
        -0.43049246072769165,
        0.1218719482421875,
        -0.23094317317008972,
        -0.15595567226409912,
        1.534584403038025,
        0.7094569206237793,
        -4.732056140899658,
        1.133975625038147,
        -4.016035556793213,
        2.0794951915740967,
        2.017878293991089,
        0.8815207481384277,
        0.44615626335144043
      ],
      "elapsed_seconds": 0.001356035005301237
    },
    {
      "call": 199,
      "physics_step": 796,
      "sim_time_s": 3.9799999999999374,
      "observation": [
        0.009711888618767262,
        0.008668992668390274,
        0.004894210956990719,
        -0.41917604207992554,
        -0.8372049927711487,
        -0.351253867149353,
        -0.26413238048553467,
        -0.07083174586296082,
        0.8993682265281677,
        -0.32662302255630493,
        -0.5811237692832947,
        0.7010629177093506,
        0.309400349855423,
        -2.976933479309082,
        0.4404247999191284,
        -0.5336260795593262,
        0.3053532838821411,
        1.1149487495422363,
        0.913410484790802,
        0.9077839851379395,
        0.006032447796314955,
        0.02046389877796173,
        -0.05899549275636673,
        0.0008515655645169318,
        0.004504416137933731,
        -0.0004482145013753325,
        0.03861856088042259,
        7.820774044375867e-05,
        -9.552721166983247e-05,
        -5.559333658311516e-05,
        -7.070629362715408e-05,
        -3.2323911000275984e-05,
        -0.021462198346853256,
        -0.01828523725271225,
        -0.9235808849334717,
        -0.343192458152771,
        0.5797719359397888,
        -0.22604317963123322,
        -0.6089556813240051,
        1.1854844093322754,
        0.3603569269180298,
        -4.732056140899658,
        1.133975625038147,
        -4.016035556793213,
        1.9921951293945312,
        1.5599783658981323,
        0.8766207695007324,
        0.8991562724113464,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9235669374465942,
        -0.3433142304420471,
        0.58039391040802,
        -0.22599481046199799,
        -0.6091040968894958,
        1.1855264902114868,
        0.3601852059364319,
        -4.7312912940979,
        1.1344126462936401,
        -4.015571594238281,
        1.9920557737350464,
        1.5597926378250122,
        0.8766728639602661,
        0.8991783857345581
      ],
      "target_rad": [
        -0.9235669374465942,
        -0.4306142330169678,
        0.1224939227104187,
        -0.2308948040008545,
        -0.15610408782958984,
        1.5346264839172363,
        0.7092851996421814,
        -4.7312912940979,
        1.1344126462936401,
        -4.015571594238281,
        2.0793557167053223,
        2.0176925659179688,
        0.8815728425979614,
        0.4461783766746521
      ],
      "elapsed_seconds": 0.00016194296767935157
    },
    {
      "call": 200,
      "physics_step": 800,
      "sim_time_s": 3.999999999999937,
      "observation": [
        0.00904674269258976,
        0.008896823972463608,
        0.005447713658213615,
        -0.4192046821117401,
        -0.8372237682342529,
        -0.3511749505996704,
        -0.2640259265899658,
        -0.07037491351366043,
        0.8981806635856628,
        -0.3266061544418335,
        -0.5810416340827942,
        0.7010540962219238,
        0.31016284227371216,
        -2.976931571960449,
        0.4404231905937195,
        -0.5336272716522217,
        0.30535173416137695,
        1.114948034286499,
        0.9129770398139954,
        0.9074573516845703,
        0.004809086211025715,
        0.02428342029452324,
        -0.05957372486591339,
        0.0008699769387021661,
        0.0037982617504894733,
        -0.00041399840847589076,
        0.0377577506005764,
        0.00010955818288493901,
        -8.25486786197871e-05,
        -5.96730133111123e-05,
        -7.156983338063583e-05,
        -4.16975308326073e-05,
        -0.02148738130927086,
        -0.015137425623834133,
        -0.9235669374465942,
        -0.3433142304420471,
        0.58039391040802,
        -0.22599481046199799,
        -0.6091040968894958,
        1.1855264902114868,
        0.3601852059364319,
        -4.7312912940979,
        1.1344126462936401,
        -4.015571594238281,
        1.9920557737350464,
        1.5597926378250122,
        0.8766728639602661,
        0.8991783857345581,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9235983490943909,
        -0.3432025611400604,
        0.5810673236846924,
        -0.22603832185268402,
        -0.609029233455658,
        1.18561851978302,
        0.3598922789096832,
        -4.7304558753967285,
        1.1349152326583862,
        -4.015149116516113,
        1.9919016361236572,
        1.559746265411377,
        0.8765396475791931,
        0.8991088271141052
      ],
      "target_rad": [
        -0.9235983490943909,
        -0.4305025637149811,
        0.12316733598709106,
        -0.23093831539154053,
        -0.15602922439575195,
        1.5347185134887695,
        0.7089922428131104,
        -4.7304558753967285,
        1.1349152326583862,
        -4.015149116516113,
        2.0792016983032227,
        2.017646312713623,
        0.8814396262168884,
        0.4461088180541992
      ],
      "elapsed_seconds": 7.860601181164384e-05
    },
    {
      "call": 201,
      "physics_step": 804,
      "sim_time_s": 4.0199999999999365,
      "observation": [
        0.008995391428470612,
        0.009187262505292892,
        0.005216898862272501,
        -0.41922953724861145,
        -0.8372427225112915,
        -0.35110005736351013,
        -0.2639455199241638,
        -0.06985235959291458,
        0.896988570690155,
        -0.32658764719963074,
        -0.5809658765792847,
        0.7010462880134583,
        0.31090015172958374,
        -2.976929187774658,
        0.4404217302799225,
        -0.5336283445358276,
        0.30535057187080383,
        1.1149471998214722,
        0.9125604033470154,
        0.9071900844573975,
        0.003795456839725375,
        0.02656242623925209,
        -0.05952122434973717,
        0.0009303156402893364,
        0.004154526628553867,
        -0.00038387844688259065,
        0.03644905984401703,
        0.00012488551146816462,
        -7.771523087285459e-05,
        -4.9135080189444125e-05,
        -4.776684727403335e-05,
        -3.711924364324659e-05,
        -0.02023785188794136,
        -0.012295597232878208,
        -0.9235983490943909,
        -0.3432025611400604,
        0.5810673236846924,
        -0.22603832185268402,
        -0.609029233455658,
        1.18561851978302,
        0.3598922789096832,
        -4.7304558753967285,
        1.1349152326583862,
        -4.015149116516113,
        1.9919016361236572,
        1.559746265411377,
        0.8765396475791931,
        0.8991088271141052,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.923602283000946,
        -0.34317660331726074,
        0.5816861391067505,
        -0.22606459259986877,
        -0.6090234518051147,
        1.1857041120529175,
        0.3596179187297821,
        -4.729683876037598,
        1.1353330612182617,
        -4.014801979064941,
        1.991774082183838,
        1.5596694946289062,
        0.8765988349914551,
        0.8990952372550964
      ],
      "target_rad": [
        -0.923602283000946,
        -0.4304766058921814,
        0.12378615140914917,
        -0.23096458613872528,
        -0.15602344274520874,
        1.534804105758667,
        0.708717942237854,
        -4.729683876037598,
        1.1353330612182617,
        -4.014801979064941,
        2.0790741443634033,
        2.0175695419311523,
        0.8814988136291504,
        0.44609522819519043
      ],
      "elapsed_seconds": 7.693597581237555e-05
    },
    {
      "call": 202,
      "physics_step": 808,
      "sim_time_s": 4.039999999999936,
      "observation": [
        0.00916018895804882,
        0.00956662092357874,
        0.004965729545801878,
        -0.419248104095459,
        -0.837264358997345,
        -0.3510262668132782,
        -0.2638837397098541,
        -0.0692906454205513,
        0.8957986831665039,
        -0.326566606760025,
        -0.5808946490287781,
        0.7010388970375061,
        0.3116108775138855,
        -2.9769270420074463,
        0.4404202699661255,
        -0.5336292386054993,
        0.30534982681274414,
        1.1149464845657349,
        0.9121876955032349,
        0.9069778919219971,
        0.0027535934932529926,
        0.028753504157066345,
        -0.05945713073015213,
        0.0010865087388083339,
        0.003266033250838518,
        -0.0003566679370123893,
        0.03504360094666481,
        0.0001048841149895452,
        -7.778762665111572e-05,
        -3.969207318732515e-05,
        -2.7859619876835495e-05,
        -3.407220356166363e-05,
        -0.017596786841750145,
        -0.009623272344470024,
        -0.923602283000946,
        -0.34317660331726074,
        0.5816861391067505,
        -0.22606459259986877,
        -0.6090234518051147,
        1.1857041120529175,
        0.3596179187297821,
        -4.729683876037598,
        1.1353330612182617,
        -4.014801979064941,
        1.991774082183838,
        1.5596694946289062,
        0.8765988349914551,
        0.8990952372550964,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9235410094261169,
        -0.3431215286254883,
        0.5823749899864197,
        -0.22608061134815216,
        -0.6090570688247681,
        1.185781717300415,
        0.35931071639060974,
        -4.7288103103637695,
        1.1356970071792603,
        -4.014389991760254,
        1.9915865659713745,
        1.5595874786376953,
        0.876765251159668,
        0.899071455001831
      ],
      "target_rad": [
        -0.9235410094261169,
        -0.43042153120040894,
        0.12447500228881836,
        -0.23098060488700867,
        -0.15605705976486206,
        1.5348817110061646,
        0.7084107398986816,
        -4.7288103103637695,
        1.1356970071792603,
        -4.014389991760254,
        2.0788865089416504,
        2.0174875259399414,
        0.8816652297973633,
        0.44607144594192505
      ],
      "elapsed_seconds": 9.416701504960656e-05
    },
    {
      "call": 203,
      "physics_step": 812,
      "sim_time_s": 4.059999999999936,
      "observation": [
        0.008912799879908562,
        0.009993799030780792,
        0.005173173733055592,
        -0.41926461458206177,
        -0.8372851014137268,
        -0.35095709562301636,
        -0.2638384699821472,
        -0.06868240982294083,
        0.8946070075035095,
        -0.32654085755348206,
        -0.580840528011322,
        0.7010319828987122,
        0.31229129433631897,
        -2.9769256114959717,
        0.4404187798500061,
        -0.5336299538612366,
        0.30534929037094116,
        1.1149457693099976,
        0.9118819832801819,
        0.9068146347999573,
        0.0020718490704894066,
        0.031080663204193115,
        -0.05962461605668068,
        0.0013640692923218012,
        0.002546061761677265,
        -0.00033687223913148046,
        0.033469416201114655,
        6.088164445827715e-05,
        -8.027158764889464e-05,
        -3.895533882314339e-05,
        -3.038251270481851e-05,
        -3.086858487222344e-05,
        -0.013936305418610573,
        -0.007322078570723534,
        -0.9235410094261169,
        -0.3431215286254883,
        0.5823749899864197,
        -0.22608061134815216,
        -0.6090570688247681,
        1.185781717300415,
        0.35931071639060974,
        -4.7288103103637695,
        1.1356970071792603,
        -4.014389991760254,
        1.9915865659713745,
        1.5595874786376953,
        0.876765251159668,
        0.899071455001831,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9234696626663208,
        -0.34302985668182373,
        0.5830802917480469,
        -0.22612538933753967,
        -0.6090999841690063,
        1.1858447790145874,
        0.35896673798561096,
        -4.727853775024414,
        1.1360270977020264,
        -4.013920783996582,
        1.9913643598556519,
        1.5595324039459229,
        0.8769349455833435,
        0.8990296125411987
      ],
      "target_rad": [
        -0.9234696626663208,
        -0.4303298592567444,
        0.12518030405044556,
        -0.23102538287639618,
        -0.15609997510910034,
        1.534944772720337,
        0.7080667018890381,
        -4.727853775024414,
        1.1360270977020264,
        -4.013920783996582,
        2.0786643028259277,
        2.017432451248169,
        0.8818349242210388,
        0.4460296034812927
      ],
      "elapsed_seconds": 6.0183985624462366e-05
    },
    {
      "call": 204,
      "physics_step": 816,
      "sim_time_s": 4.079999999999935,
      "observation": [
        0.008688168600201607,
        0.010209181345999241,
        0.0050115701742470264,
        -0.4192787706851959,
        -0.8373036980628967,
        -0.35089585185050964,
        -0.2637987732887268,
        -0.06806062161922455,
        0.8934219479560852,
        -0.32651206851005554,
        -0.5807902216911316,
        0.7010250687599182,
        0.3129429221153259,
        -2.976923942565918,
        0.44041708111763,
        -0.5336306691169739,
        0.30534857511520386,
        1.1149451732635498,
        0.9116550087928772,
        0.9066910147666931,
        0.0019587608985602856,
        0.030934488400816917,
        -0.05904242768883705,
        0.0014661349123343825,
        0.002528646495193243,
        -0.0003452399978414178,
        0.03216397389769554,
        9.463741298532113e-05,
        -9.099037561099976e-05,
        -3.271508830948733e-05,
        -3.2385254598921165e-05,
        -2.600137668196112e-05,
        -0.009897921234369278,
        -0.005528662353754044,
        -0.9234696626663208,
        -0.34302985668182373,
        0.5830802917480469,
        -0.22612538933753967,
        -0.6090999841690063,
        1.1858447790145874,
        0.35896673798561096,
        -4.727853775024414,
        1.1360270977020264,
        -4.013920783996582,
        1.9913643598556519,
        1.5595324039459229,
        0.8769349455833435,
        0.8990296125411987,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9233913421630859,
        -0.3429357707500458,
        0.5837346911430359,
        -0.22622700035572052,
        -0.6091576218605042,
        1.1859546899795532,
        0.3586207330226898,
        -4.727004528045654,
        1.136290192604065,
        -4.01351261138916,
        1.9911830425262451,
        1.5594815015792847,
        0.8771786093711853,
        0.8989952802658081
      ],
      "target_rad": [
        -0.9233913421630859,
        -0.43023577332496643,
        0.12583470344543457,
        -0.23112699389457703,
        -0.15615761280059814,
        1.5350546836853027,
        0.7077207565307617,
        -4.727004528045654,
        1.136290192604065,
        -4.01351261138916,
        2.0784831047058105,
        2.017381429672241,
        0.8820785880088806,
        0.4459952712059021
      ],
      "elapsed_seconds": 8.406600682064891e-05
    },
    {
      "call": 205,
      "physics_step": 820,
      "sim_time_s": 4.099999999999935,
      "observation": [
        0.008588426746428013,
        0.010337150655686855,
        0.0049301800318062305,
        -0.41928932070732117,
        -0.8373227119445801,
        -0.3508378267288208,
        -0.26376068592071533,
        -0.06744757294654846,
        0.8922494053840637,
        -0.32648101449012756,
        -0.5807404518127441,
        0.7010180950164795,
        0.31357163190841675,
        -2.976921796798706,
        0.4404151737689972,
        -0.5336312055587769,
        0.30534791946411133,
        1.1149446964263916,
        0.9115119576454163,
        0.9065979719161987,
        0.001849598833359778,
        0.030576039105653763,
        -0.05845887213945389,
        0.0016066782409325242,
        0.002460156800225377,
        -0.00034630284062586725,
        0.031080415472388268,
        0.00010927473340416327,
        -9.960844181478024e-05,
        -2.216806387878023e-05,
        -2.9238193747005425e-05,
        -2.1699932403862476e-05,
        -0.005675843451172113,
        -0.004153359215706587,
        -0.9233913421630859,
        -0.3429357707500458,
        0.5837346911430359,
        -0.22622700035572052,
        -0.6091576218605042,
        1.1859546899795532,
        0.3586207330226898,
        -4.727004528045654,
        1.136290192604065,
        -4.01351261138916,
        1.9911830425262451,
        1.5594815015792847,
        0.8771786093711853,
        0.8989952802658081,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9233018159866333,
        -0.34283873438835144,
        0.5843825340270996,
        -0.22636082768440247,
        -0.6092484593391418,
        1.1860722303390503,
        0.35827192664146423,
        -4.726184844970703,
        1.1365067958831787,
        -4.013086795806885,
        1.9909999370574951,
        1.5594359636306763,
        0.8774576187133789,
        0.8989642262458801
      ],
      "target_rad": [
        -0.9233018159866333,
        -0.4301387369632721,
        0.1264825463294983,
        -0.23126082122325897,
        -0.15624845027923584,
        1.5351722240447998,
        0.7073719501495361,
        -4.726184844970703,
        1.1365067958831787,
        -4.013086795806885,
        2.0782999992370605,
        2.017335891723633,
        0.8823575973510742,
        0.4459642171859741
      ],
      "elapsed_seconds": 7.263600127771497e-05
    },
    {
      "call": 206,
      "physics_step": 824,
      "sim_time_s": 4.119999999999934,
      "observation": [
        0.00900276843458414,
        0.010640895925462246,
        0.004567465744912624,
        -0.41929030418395996,
        -0.837348222732544,
        -0.3507757782936096,
        -0.2637270987033844,
        -0.06682980805635452,
        0.8910853862762451,
        -0.3264464735984802,
        -0.5806936025619507,
        0.7010113000869751,
        0.3141775131225586,
        -2.976919651031494,
        0.44041308760643005,
        -0.5336315631866455,
        0.30534735321998596,
        1.114944338798523,
        0.9114415645599365,
        0.9065277576446533,
        0.001435688929632306,
        0.03154006600379944,
        -0.05831233784556389,
        0.00184688123408705,
        0.0021900245919823647,
        -0.0003353834035806358,
        0.02987700141966343,
        6.905964255565777e-05,
        -0.00010431827831780538,
        -1.3619249330076855e-05,
        -2.2209982489584945e-05,
        -1.3601737919088919e-05,
        -0.002852514386177063,
        -0.00314653804525733,
        -0.9233018159866333,
        -0.34283873438835144,
        0.5843825340270996,
        -0.22636082768440247,
        -0.6092484593391418,
        1.1860722303390503,
        0.35827192664146423,
        -4.726184844970703,
        1.1365067958831787,
        -4.013086795806885,
        1.9909999370574951,
        1.5594359636306763,
        0.8774576187133789,
        0.8989642262458801,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9232134222984314,
        -0.34279167652130127,
        0.585063099861145,
        -0.22651554644107819,
        -0.6094494462013245,
        1.1862068176269531,
        0.35792484879493713,
        -4.725307464599609,
        1.1366716623306274,
        -4.012613296508789,
        1.990820288658142,
        1.5593899488449097,
        0.8777967691421509,
        0.8989620804786682
      ],
      "target_rad": [
        -0.9232134222984314,
        -0.4300916790962219,
        0.1271631121635437,
        -0.2314155399799347,
        -0.15644943714141846,
        1.5353068113327026,
        0.7070248126983643,
        -4.725307464599609,
        1.1366716623306274,
        -4.012613296508789,
        2.078120231628418,
        2.017289876937866,
        0.8826967477798462,
        0.4459620714187622
      ],
      "elapsed_seconds": 6.715598283335567e-05
    },
    {
      "call": 207,
      "physics_step": 828,
      "sim_time_s": 4.139999999999934,
      "observation": [
        0.009210697375237942,
        0.010941755957901478,
        0.004106502514332533,
        -0.41928908228874207,
        -0.8373739719390869,
        -0.350715696811676,
        -0.263702929019928,
        -0.06618856638669968,
        0.8899222016334534,
        -0.3264073431491852,
        -0.58065265417099,
        0.7010046243667603,
        0.31475868821144104,
        -2.9769184589385986,
        0.44041094183921814,
        -0.5336318016052246,
        0.30534693598747253,
        1.1149441003799438,
        0.9113913774490356,
        0.9064704179763794,
        0.0011280188336968422,
        0.03228006511926651,
        -0.05803418532013893,
        0.001988612348213792,
        0.00203113560564816,
        -0.0003207391418982297,
        0.028637897223234177,
        7.894451846368611e-05,
        -0.00011415845074225217,
        -1.3212654266681056e-05,
        -1.8512084352551028e-05,
        -1.09901466203155e-05,
        -0.0024082916788756847,
        -0.0027888419572263956,
        -0.9232134222984314,
        -0.34279167652130127,
        0.585063099861145,
        -0.22651554644107819,
        -0.6094494462013245,
        1.1862068176269531,
        0.35792484879493713,
        -4.725307464599609,
        1.1366716623306274,
        -4.012613296508789,
        1.990820288658142,
        1.5593899488449097,
        0.8777967691421509,
        0.8989620804786682,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9232020974159241,
        -0.34277716279029846,
        0.585693359375,
        -0.22673897445201874,
        -0.6096620559692383,
        1.1864063739776611,
        0.3575945794582367,
        -4.724546909332275,
        1.1368170976638794,
        -4.012239456176758,
        1.990733027458191,
        1.5593856573104858,
        0.8781182169914246,
        0.8989906907081604
      ],
      "target_rad": [
        -0.9232020974159241,
        -0.4300771653652191,
        0.12779337167739868,
        -0.23163896799087524,
        -0.15666204690933228,
        1.5355063676834106,
        0.7066946029663086,
        -4.724546909332275,
        1.1368170976638794,
        -4.012239456176758,
        2.078032970428467,
        2.0172855854034424,
        0.8830181956291199,
        0.4459906816482544
      ],
      "elapsed_seconds": 9.359698742628098e-05
    },
    {
      "call": 208,
      "physics_step": 832,
      "sim_time_s": 4.1599999999999335,
      "observation": [
        0.007329341024160385,
        0.010868276469409466,
        0.006093752570450306,
        -0.41929933428764343,
        -0.83738774061203,
        -0.35067057609558105,
        -0.2636852562427521,
        -0.06553784012794495,
        0.8887632489204407,
        -0.32636508345603943,
        -0.5806158185005188,
        0.7009981274604797,
        0.3153185248374939,
        -2.9769175052642822,
        0.44040870666503906,
        -0.5336319804191589,
        0.3053467273712158,
        1.1149439811706543,
        0.911345362663269,
        0.906415581703186,
        0.0007240099366754293,
        0.03277808800339699,
        -0.05797508731484413,
        0.0021959636360406876,
        0.0017336562741547823,
        -0.0003263359540142119,
        0.027699856087565422,
        2.866008253477048e-05,
        -0.00010858588211704046,
        -6.678268618998118e-06,
        -6.7823880272044335e-06,
        -7.63162745442969e-07,
        -0.002273853635415435,
        -0.002724291756749153,
        -0.9232020974159241,
        -0.34277716279029846,
        0.585693359375,
        -0.22673897445201874,
        -0.6096620559692383,
        1.1864063739776611,
        0.3575945794582367,
        -4.724546909332275,
        1.1368170976638794,
        -4.012239456176758,
        1.990733027458191,
        1.5593856573104858,
        0.8781182169914246,
        0.8989906907081604,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9233530163764954,
        -0.34265920519828796,
        0.586138904094696,
        -0.22701311111450195,
        -0.6095947623252869,
        1.186558485031128,
        0.35725998878479004,
        -4.724020481109619,
        1.1370710134506226,
        -4.012039661407471,
        1.9907244443893433,
        1.5594847202301025,
        0.8780802488327026,
        0.8989601731300354
      ],
      "target_rad": [
        -0.9233530163764954,
        -0.4299592077732086,
        0.12823891639709473,
        -0.23191310465335846,
        -0.15659475326538086,
        1.5356584787368774,
        0.7063599824905396,
        -4.724020481109619,
        1.1370710134506226,
        -4.012039661407471,
        2.078024387359619,
        2.0173847675323486,
        0.882980227470398,
        0.4459601640701294
      ],
      "elapsed_seconds": 6.964500062167645e-05
    },
    {
      "call": 209,
      "physics_step": 836,
      "sim_time_s": 4.179999999999933,
      "observation": [
        0.00914932880550623,
        0.011360031552612782,
        0.003616628935560584,
        -0.41931143403053284,
        -0.8373972177505493,
        -0.3506334722042084,
        -0.26367300748825073,
        -0.06487724930047989,
        0.8876099586486816,
        -0.3263208568096161,
        -0.5805809497833252,
        0.7009919285774231,
        0.31585726141929626,
        -2.9769158363342285,
        0.44040647149086,
        -0.5336321592330933,
        0.30534663796424866,
        1.1149439811706543,
        0.9113002419471741,
        0.9063612222671509,
        0.0006546091753989458,
        0.03275240957736969,
        -0.057289596647024155,
        0.002179584698751569,
        0.0018382344860583544,
        -0.000291671633021906,
        0.0265138428658247,
        0.00013235931692179292,
        -0.00012158252502558753,
        -1.1909545719390735e-05,
        -2.7934249828831526e-06,
        -2.9523632747441297e-06,
        -0.002238583518192172,
        -0.002714350586757064,
        -0.9233530163764954,
        -0.34265920519828796,
        0.586138904094696,
        -0.22701311111450195,
        -0.6095947623252869,
        1.186558485031128,
        0.35725998878479004,
        -4.724020481109619,
        1.1370710134506226,
        -4.012039661407471,
        1.9907244443893433,
        1.5594847202301025,
        0.8780802488327026,
        0.8989601731300354,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9233828783035278,
        -0.3428313136100769,
        0.5867406725883484,
        -0.22720803320407867,
        -0.6099416613578796,
        1.1868188381195068,
        0.3570075035095215,
        -4.7234883308410645,
        1.1371757984161377,
        -4.011837482452393,
        1.9907314777374268,
        1.5593997240066528,
        0.8786349296569824,
        0.8990824222564697
      ],
      "target_rad": [
        -0.9233828783035278,
        -0.43013131618499756,
        0.12884068489074707,
        -0.23210802674293518,
        -0.15694165229797363,
        1.5359188318252563,
        0.706107497215271,
        -4.7234883308410645,
        1.1371757984161377,
        -4.011837482452393,
        2.078031539916992,
        2.0172996520996094,
        0.8835349082946777,
        0.4460824131965637
      ],
      "elapsed_seconds": 9.727699216455221e-05
    },
    {
      "call": 210,
      "physics_step": 840,
      "sim_time_s": 4.199999999999933,
      "observation": [
        0.00954144075512886,
        0.011515096761286259,
        0.0030623062048107386,
        -0.41928061842918396,
        -0.8374398350715637,
        -0.3505684733390808,
        -0.26366057991981506,
        -0.0642395168542862,
        0.886474072933197,
        -0.326276034116745,
        -0.5805462598800659,
        0.7009860873222351,
        0.31637808680534363,
        -2.9769134521484375,
        0.44040408730506897,
        -0.5336322784423828,
        0.3053467571735382,
        1.1149439811706543,
        0.9112578630447388,
        0.9063076972961426,
        0.0005760761559940875,
        0.03154273331165314,
        -0.05661024525761604,
        0.002290366915985942,
        0.0016771169612184167,
        -0.00029415806056931615,
        0.02584703266620636,
        9.628692350815982e-05,
        -0.0001146209251601249,
        -3.203139613106032e-06,
        8.761700883042067e-06,
        -1.62497576638998e-06,
        -0.002087029628455639,
        -0.0026620884891599417,
        -0.9233828783035278,
        -0.3428313136100769,
        0.5867406725883484,
        -0.22720803320407867,
        -0.6099416613578796,
        1.1868188381195068,
        0.3570075035095215,
        -4.7234883308410645,
        1.1371757984161377,
        -4.011837482452393,
        1.9907314777374268,
        1.5593997240066528,
        0.8786349296569824,
        0.8990824222564697,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9233509302139282,
        -0.342818021774292,
        0.58732008934021,
        -0.22749432921409607,
        -0.6101841926574707,
        1.1870282888412476,
        0.35673558712005615,
        -4.722862720489502,
        1.1372140645980835,
        -4.0114569664001465,
        1.9906514883041382,
        1.5593764781951904,
        0.879067063331604,
        0.8991143703460693
      ],
      "target_rad": [
        -0.9233509302139282,
        -0.43011802434921265,
        0.12942010164260864,
        -0.23239432275295258,
        -0.1571841835975647,
        1.536128282546997,
        0.7058355808258057,
        -4.722862720489502,
        1.1372140645980835,
        -4.0114569664001465,
        2.077951431274414,
        2.0172765254974365,
        0.8839670419692993,
        0.44611436128616333
      ],
      "elapsed_seconds": 0.0006069579976610839
    },
    {
      "call": 211,
      "physics_step": 844,
      "sim_time_s": 4.219999999999932,
      "observation": [
        0.008706330321729183,
        0.01143452525138855,
        0.0038659865967929363,
        -0.4192591905593872,
        -0.8374738097190857,
        -0.3505129814147949,
        -0.2636505663394928,
        -0.06361260265111923,
        0.8853482604026794,
        -0.32622891664505005,
        -0.5805155038833618,
        0.7009803056716919,
        0.3168867826461792,
        -2.976911783218384,
        0.4404017925262451,
        -0.5336322784423828,
        0.30534687638282776,
        1.1149438619613647,
        0.9112182855606079,
        0.9062548279762268,
        0.0004507075354922563,
        0.03131850063800812,
        -0.056159891188144684,
        0.0023983672726899385,
        0.001482795923948288,
        -0.0002835683699231595,
        0.02523735910654068,
        8.050151518546045e-05,
        -0.00011421570525271818,
        1.7538853853693581e-06,
        5.461532055051066e-06,
        -7.999958597793011e-07,
        -0.0019479026086628437,
        -0.002632167423143983,
        -0.9233509302139282,
        -0.342818021774292,
        0.58732008934021,
        -0.22749432921409607,
        -0.6101841926574707,
        1.1870282888412476,
        0.35673558712005615,
        -4.722862720489502,
        1.1372140645980835,
        -4.0114569664001465,
        1.9906514883041382,
        1.5593764781951904,
        0.879067063331604,
        0.8991143703460693,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9234209060668945,
        -0.3427562117576599,
        0.587796688079834,
        -0.2277873158454895,
        -0.6102697849273682,
        1.1871914863586426,
        0.35644352436065674,
        -4.722290515899658,
        1.1373376846313477,
        -4.011158466339111,
        1.9906121492385864,
        1.559423804283142,
        0.8792340159416199,
        0.8991203308105469
      ],
      "target_rad": [
        -0.9234209060668945,
        -0.43005621433258057,
        0.12989670038223267,
        -0.232687309384346,
        -0.15726977586746216,
        1.536291480064392,
        0.7055435180664062,
        -4.722290515899658,
        1.1373376846313477,
        -4.011158466339111,
        2.0779120922088623,
        2.0173237323760986,
        0.8841339945793152,
        0.44612032175064087
      ],
      "elapsed_seconds": 0.00013828102964907885
    },
    {
      "call": 212,
      "physics_step": 848,
      "sim_time_s": 4.239999999999932,
      "observation": [
        0.007859139703214169,
        0.011387200094759464,
        0.0046287341974675655,
        -0.4192524552345276,
        -0.8374942541122437,
        -0.35047218203544617,
        -0.26364365220069885,
        -0.06298373639583588,
        0.8842298984527588,
        -0.32618004083633423,
        -0.5804876089096069,
        0.700974702835083,
        0.31738176941871643,
        -2.97691011428833,
        0.44039952754974365,
        -0.533632218837738,
        0.3053469657897949,
        1.1149439811706543,
        0.9111803770065308,
        0.906202495098114,
        0.000283316767308861,
        0.0315435566008091,
        -0.05580705404281616,
        0.002478664740920067,
        0.0013590854359790683,
        -0.00027272527222521603,
        0.02451300248503685,
        8.885028364602476e-05,
        -0.00011178678687429056,
        2.789125346680521e-06,
        5.617786428047111e-06,
        3.0274309210653882e-06,
        -0.0018781658727675676,
        -0.0026127027813345194,
        -0.9234209060668945,
        -0.3427562117576599,
        0.587796688079834,
        -0.2277873158454895,
        -0.6102697849273682,
        1.1871914863586426,
        0.35644352436065674,
        -4.722290515899658,
        1.1373376846313477,
        -4.011158466339111,
        1.9906121492385864,
        1.559423804283142,
        0.8792340159416199,
        0.8991203308105469,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9235496520996094,
        -0.34273049235343933,
        0.5882336497306824,
        -0.22804833948612213,
        -0.6103144884109497,
        1.1873501539230347,
        0.35615912079811096,
        -4.721805572509766,
        1.1375210285186768,
        -4.010958671569824,
        1.990613579750061,
        1.559464454650879,
        0.8793392181396484,
        0.8991364240646362
      ],
      "target_rad": [
        -0.9235496520996094,
        -0.43003049492836,
        0.13033366203308105,
        -0.23294833302497864,
        -0.1573144793510437,
        1.5364501476287842,
        0.7052590847015381,
        -4.721805572509766,
        1.1375210285186768,
        -4.010958671569824,
        2.077913522720337,
        2.017364501953125,
        0.8842391967773438,
        0.4461364150047302
      ],
      "elapsed_seconds": 0.00015367200830951333
    },
    {
      "call": 213,
      "physics_step": 852,
      "sim_time_s": 4.259999999999931,
      "observation": [
        0.007326408755034208,
        0.011405661702156067,
        0.005026084370911121,
        -0.4192546010017395,
        -0.8375057578086853,
        -0.35044217109680176,
        -0.263640433549881,
        -0.062349721789360046,
        0.8831184506416321,
        -0.3261295557022095,
        -0.5804617404937744,
        0.7009693384170532,
        0.3178615868091583,
        -2.97690749168396,
        0.44039738178253174,
        -0.5336321592330933,
        0.30534714460372925,
        1.1149441003799438,
        0.9111435413360596,
        0.9061504602432251,
        9.0285851911176e-05,
        0.03179802745580673,
        -0.05546483397483826,
        0.0025579931680113077,
        0.0012602749047800899,
        -0.0002633887343108654,
        0.023739159107208252,
        0.00012707251880783588,
        -0.00010583098628558218,
        2.2448703020927496e-06,
        9.871088877844159e-06,
        5.112497547088424e-06,
        -0.0018319494556635618,
        -0.002591838827356696,
        -0.9235496520996094,
        -0.34273049235343933,
        0.5882336497306824,
        -0.22804833948612213,
        -0.6103144884109497,
        1.1873501539230347,
        0.35615912079811096,
        -4.721805572509766,
        1.1375210285186768,
        -4.010958671569824,
        1.990613579750061,
        1.559464454650879,
        0.8793392181396484,
        0.8991364240646362,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9236873388290405,
        -0.34273743629455566,
        0.5886865854263306,
        -0.22829018533229828,
        -0.6103824973106384,
        1.187538504600525,
        0.3558763861656189,
        -4.721381187438965,
        1.1377143859863281,
        -4.010822772979736,
        1.9906412363052368,
        1.5594909191131592,
        0.8794984221458435,
        0.8991711735725403
      ],
      "target_rad": [
        -0.9236873388290405,
        -0.4300374388694763,
        0.13078659772872925,
        -0.23319017887115479,
        -0.15738248825073242,
        1.5366384983062744,
        0.7049763798713684,
        -4.721381187438965,
        1.1377143859863281,
        -4.010822772979736,
        2.0779411792755127,
        2.0173909664154053,
        0.8843984007835388,
        0.4461711645126343
      ],
      "elapsed_seconds": 7.908599218353629e-05
    },
    {
      "call": 214,
      "physics_step": 856,
      "sim_time_s": 4.279999999999931,
      "observation": [
        0.006531942170113325,
        0.011352429166436195,
        0.005794463213533163,
        -0.4192783832550049,
        -0.8374982476234436,
        -0.3504316508769989,
        -0.2636421024799347,
        -0.06170874089002609,
        0.8820124864578247,
        -0.3260743319988251,
        -0.5804388523101807,
        0.7009641528129578,
        0.31832635402679443,
        -2.97690486907959,
        0.44039541482925415,
        -0.5336320996284485,
        0.3053474426269531,
        1.1149442195892334,
        0.9111077189445496,
        0.9060990214347839,
        -0.00010121756349690259,
        0.032101526856422424,
        -0.05510876327753067,
        0.0027343996334820986,
        0.0011505362344905734,
        -0.0002499679976608604,
        0.022968264296650887,
        0.00016536290058866143,
        -0.00010194846981903538,
        -2.0469791195409925e-07,
        1.2773527487297542e-05,
        3.309611884105834e-06,
        -0.001771664130501449,
        -0.002566256793215871,
        -0.9236873388290405,
        -0.34273743629455566,
        0.5886865854263306,
        -0.22829018533229828,
        -0.6103824973106384,
        1.187538504600525,
        0.3558763861656189,
        -4.721381187438965,
        1.1377143859863281,
        -4.010822772979736,
        1.9906412363052368,
        1.5594909191131592,
        0.8794984221458435,
        0.8991711735725403,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9238797426223755,
        -0.34274420142173767,
        0.5891386866569519,
        -0.2285376936197281,
        -0.6104103922843933,
        1.1877838373184204,
        0.35557249188423157,
        -4.721096992492676,
        1.137943148612976,
        -4.010837554931641,
        1.9907382726669312,
        1.5595556497573853,
        0.8796550631523132,
        0.8992251753807068
      ],
      "target_rad": [
        -0.9238797426223755,
        -0.4300442039966583,
        0.13123869895935059,
        -0.2334376871585846,
        -0.1574103832244873,
        1.53688383102417,
        0.7046724557876587,
        -4.721096992492676,
        1.137943148612976,
        -4.010837554931641,
        2.078038215637207,
        2.017455577850342,
        0.8845550417900085,
        0.4462251663208008
      ],
      "elapsed_seconds": 9.498698636889458e-05
    },
    {
      "call": 215,
      "physics_step": 860,
      "sim_time_s": 4.2999999999999305,
      "observation": [
        0.004900141153484583,
        0.01139112375676632,
        0.007584842387586832,
        -0.4193093776702881,
        -0.8374830484390259,
        -0.3504308760166168,
        -0.26364821195602417,
        -0.06106327474117279,
        0.8809149265289307,
        -0.3260100185871124,
        -0.5804182291030884,
        0.7009592056274414,
        0.3187742233276367,
        -2.9769020080566406,
        0.4403935968875885,
        -0.5336321592330933,
        0.30534791946411133,
        1.114944338798523,
        0.9110730290412903,
        0.9060481786727905,
        -0.0004589961899910122,
        0.03250601142644882,
        -0.054793234914541245,
        0.0037363339215517044,
        0.0009429404744878411,
        -0.00024202451459132135,
        0.022086432203650475,
        0.00010932680015685037,
        -8.527738100383431e-05,
        -2.5661570361990016e-06,
        2.6592717404128052e-05,
        1.1739114597730804e-05,
        -0.0017241645837202668,
        -0.002532427432015538,
        -0.9238797426223755,
        -0.34274420142173767,
        0.5891386866569519,
        -0.2285376936197281,
        -0.6104103922843933,
        1.1877838373184204,
        0.35557249188423157,
        -4.721096992492676,
        1.137943148612976,
        -4.010837554931641,
        1.9907382726669312,
        1.5595556497573853,
        0.8796550631523132,
        0.8992251753807068,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9241241216659546,
        -0.3427096903324127,
        0.5895171761512756,
        -0.22879333794116974,
        -0.6103391051292419,
        1.1879785060882568,
        0.35525956749916077,
        -4.720897197723389,
        1.1382036209106445,
        -4.010889053344727,
        1.990838885307312,
        1.5596399307250977,
        0.8797072172164917,
        0.899251401424408
      ],
      "target_rad": [
        -0.9241241216659546,
        -0.4300096929073334,
        0.13161718845367432,
        -0.23369333148002625,
        -0.15733909606933594,
        1.5370784997940063,
        0.7043595314025879,
        -4.720897197723389,
        1.1382036209106445,
        -4.010889053344727,
        2.078138828277588,
        2.0175399780273438,
        0.884607195854187,
        0.44625139236450195
      ],
      "elapsed_seconds": 8.086703019216657e-05
    },
    {
      "call": 216,
      "physics_step": 864,
      "sim_time_s": 4.31999999999993,
      "observation": [
        0.006046732421964407,
        0.01183759979903698,
        0.006005748175084591,
        -0.41934287548065186,
        -0.8374630808830261,
        -0.3504384458065033,
        -0.2636595368385315,
        -0.06040939688682556,
        0.8798268437385559,
        -0.3259269893169403,
        -0.5803993344306946,
        0.7009546756744385,
        0.3192013204097748,
        -2.9768991470336914,
        0.4403918981552124,
        -0.5336322784423828,
        0.3053485155105591,
        1.114944577217102,
        0.9110391139984131,
        0.9059978127479553,
        -0.0005876701907254755,
        0.03275927156209946,
        -0.05413796752691269,
        0.0043838610872626305,
        0.0009694871259853244,
        -0.00021562710753642023,
        0.020962435752153397,
        0.00016713353397790343,
        -9.151777339866385e-05,
        -1.1639303920674138e-05,
        2.8169808501843363e-05,
        6.472263521573041e-06,
        -0.0016799175646156073,
        -0.002510675461962819,
        -0.9241241216659546,
        -0.3427096903324127,
        0.5895171761512756,
        -0.22879333794116974,
        -0.6103391051292419,
        1.1879785060882568,
        0.35525956749916077,
        -4.720897197723389,
        1.1382036209106445,
        -4.010889053344727,
        1.990838885307312,
        1.5596399307250977,
        0.8797072172164917,
        0.899251401424408,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9242756366729736,
        -0.34288766980171204,
        0.5900636911392212,
        -0.22901086509227753,
        -0.610611617565155,
        1.1882948875427246,
        0.35498082637786865,
        -4.720663070678711,
        1.138334035873413,
        -4.010942459106445,
        1.9909639358520508,
        1.5596116781234741,
        0.8802428245544434,
        0.8993993997573853
      ],
      "target_rad": [
        -0.9242756366729736,
        -0.4301876723766327,
        0.13216370344161987,
        -0.23391085863113403,
        -0.15761160850524902,
        1.5373948812484741,
        0.7040808200836182,
        -4.720663070678711,
        1.138334035873413,
        -4.010942459106445,
        2.078263998031616,
        2.0175116062164307,
        0.8851428031921387,
        0.44639939069747925
      ],
      "elapsed_seconds": 6.998499156907201e-05
    },
    {
      "call": 217,
      "physics_step": 868,
      "sim_time_s": 4.33999999999993,
      "observation": [
        0.006044022273272276,
        0.012106027454137802,
        0.006010130513459444,
        -0.4193370044231415,
        -0.8374732732772827,
        -0.35042116045951843,
        -0.26367178559303284,
        -0.05976839363574982,
        0.8787556290626526,
        -0.3258324861526489,
        -0.5803812742233276,
        0.7009503245353699,
        0.3196094334125519,
        -2.976896047592163,
        0.44039005041122437,
        -0.5336325168609619,
        0.30534929037094116,
        1.1149446964263916,
        0.9110078811645508,
        0.9059484601020813,
        -0.0007707714103162289,
        0.03191273659467697,
        -0.05342725291848183,
        0.005403896328061819,
        0.0007751982775516808,
        -0.00022380135487765074,
        0.02017243579030037,
        8.851014717947692e-05,
        -8.107136090984568e-05,
        -6.824458068876993e-06,
        4.323798566474579e-05,
        1.1977744179603178e-05,
        -0.0015403060242533684,
        -0.002450281288474798,
        -0.9242756366729736,
        -0.34288766980171204,
        0.5900636911392212,
        -0.22901086509227753,
        -0.610611617565155,
        1.1882948875427246,
        0.35498082637786865,
        -4.720663070678711,
        1.138334035873413,
        -4.010942459106445,
        1.9909639358520508,
        1.5596116781234741,
        0.8802428245544434,
        0.8993993997573853,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9243711233139038,
        -0.3429209291934967,
        0.5905782580375671,
        -0.22931146621704102,
        -0.610815703868866,
        1.188551902770996,
        0.35469087958335876,
        -4.720342636108398,
        1.138381004333496,
        -4.01082706451416,
        1.991006851196289,
        1.5596256256103516,
        0.880706787109375,
        0.8994768261909485
      ],
      "target_rad": [
        -0.9243711233139038,
        -0.43022093176841736,
        0.13267827033996582,
        -0.23421145975589752,
        -0.15781569480895996,
        1.5376518964767456,
        0.7037909030914307,
        -4.720342636108398,
        1.138381004333496,
        -4.01082706451416,
        2.0783069133758545,
        2.0175256729125977,
        0.8856067657470703,
        0.4464768171310425
      ],
      "elapsed_seconds": 0.00013361097080633044
    },
    {
      "call": 218,
      "physics_step": 872,
      "sim_time_s": 4.359999999999929,
      "observation": [
        0.006197720300406218,
        0.012315534055233002,
        0.005591806024312973,
        -0.4193544387817383,
        -0.8374624252319336,
        -0.35042622685432434,
        -0.2636880576610565,
        -0.05913126841187477,
        0.8776968717575073,
        -0.3257122337818146,
        -0.5803676843643188,
        0.7009461522102356,
        0.3200012147426605,
        -2.976893663406372,
        0.4403882622718811,
        -0.5336326956748962,
        0.30535006523132324,
        1.1149448156356812,
        0.9109794497489929,
        0.9059000611305237,
        -0.0007956447079777718,
        0.03187672793865204,
        -0.0526319220662117,
        0.006294041872024536,
        0.0006835151580162346,
        -0.00019678710668813437,
        0.019265983253717422,
        0.0001475717144785449,
        -9.774495993042365e-05,
        -1.2914438229927327e-05,
        3.168710827594623e-05,
        2.407210786259384e-06,
        -0.0013796337880194187,
        -0.0024114828556776047,
        -0.9243711233139038,
        -0.3429209291934967,
        0.5905782580375671,
        -0.22931146621704102,
        -0.610815703868866,
        1.188551902770996,
        0.35469087958335876,
        -4.720342636108398,
        1.138381004333496,
        -4.01082706451416,
        1.991006851196289,
        1.5596256256103516,
        0.880706787109375,
        0.8994768261909485,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9245344400405884,
        -0.3430096507072449,
        0.5911083221435547,
        -0.22961966693401337,
        -0.611046552658081,
        1.1888779401779175,
        0.35438272356987,
        -4.720101833343506,
        1.138452410697937,
        -4.0108489990234375,
        1.9911340475082397,
        1.559672474861145,
        0.8811902403831482,
        0.8996036052703857
      ],
      "target_rad": [
        -0.9245344400405884,
        -0.4303096532821655,
        0.13320833444595337,
        -0.23451966047286987,
        -0.15804654359817505,
        1.537977933883667,
        0.7034827470779419,
        -4.720101833343506,
        1.138452410697937,
        -4.0108489990234375,
        2.0784339904785156,
        2.0175724029541016,
        0.8860902190208435,
        0.44660359621047974
      ],
      "elapsed_seconds": 7.189501775428653e-05
    },
    {
      "call": 219,
      "physics_step": 876,
      "sim_time_s": 4.379999999999929,
      "observation": [
        0.0044245910830795765,
        0.01235136203467846,
        0.007564465515315533,
        -0.41939064860343933,
        -0.8374339938163757,
        -0.3504508137702942,
        -0.26370829343795776,
        -0.058489762246608734,
        0.8766500353813171,
        -0.3255678117275238,
        -0.5803582668304443,
        0.7009422183036804,
        0.3203749358654022,
        -2.97689151763916,
        0.4403863847255707,
        -0.5336329340934753,
        0.3053508698940277,
        1.1149450540542603,
        0.9109540581703186,
        0.9058526158332825,
        -0.001079664332792163,
        0.03222661092877388,
        -0.05213594436645508,
        0.007672647479921579,
        0.00041437058825977147,
        -0.00018931050726678222,
        0.018367137759923935,
        0.0001010867563309148,
        -9.51785477809608e-05,
        -1.4094430298428051e-05,
        3.856212060782127e-05,
        7.870788977015764e-06,
        -0.0012348045129328966,
        -0.0023572766222059727,
        -0.9245344400405884,
        -0.3430096507072449,
        0.5911083221435547,
        -0.22961966693401337,
        -0.611046552658081,
        1.1888779401779175,
        0.35438272356987,
        -4.720101833343506,
        1.138452410697937,
        -4.0108489990234375,
        1.9911340475082397,
        1.559672474861145,
        0.8811902403831482,
        0.8996036052703857,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9248305559158325,
        -0.3429926633834839,
        0.5915101170539856,
        -0.22995874285697937,
        -0.6110368967056274,
        1.1891613006591797,
        0.3540434241294861,
        -4.7200422286987305,
        1.1386287212371826,
        -4.011014938354492,
        1.9913158416748047,
        1.5598098039627075,
        0.8813819289207458,
        0.8996778130531311
      ],
      "target_rad": [
        -0.9248305559158325,
        -0.43029266595840454,
        0.13361012935638428,
        -0.23485873639583588,
        -0.15803688764572144,
        1.5382612943649292,
        0.7031434178352356,
        -4.7200422286987305,
        1.1386287212371826,
        -4.011014938354492,
        2.07861590385437,
        2.017709732055664,
        0.8862819075584412,
        0.4466778039932251
      ],
      "elapsed_seconds": 6.720604142174125e-05
    },
    {
      "call": 220,
      "physics_step": 880,
      "sim_time_s": 4.399999999999928,
      "observation": [
        0.004914292600005865,
        0.012659337371587753,
        0.006851264275610447,
        -0.4194224774837494,
        -0.8374069333076477,
        -0.3504774868488312,
        -0.2637324035167694,
        -0.05784119665622711,
        0.875613808631897,
        -0.32540783286094666,
        -0.580350935459137,
        0.7009385228157043,
        0.32072913646698,
        -2.9768893718719482,
        0.4403844475746155,
        -0.5336332321166992,
        0.30535179376602173,
        1.1149452924728394,
        0.9109305739402771,
        0.9058060646057129,
        -0.001272528781555593,
        0.03250487148761749,
        -0.051630280911922455,
        0.008228574879467487,
        0.00034697054070420563,
        -0.00018195413576904684,
        0.017398301512002945,
        0.00010863389616133645,
        -9.633045556256548e-05,
        -1.402784346282715e-05,
        4.690784408012405e-05,
        1.3374534319154918e-05,
        -0.001155422767624259,
        -0.002319113351404667,
        -0.9248305559158325,
        -0.3429926633834839,
        0.5915101170539856,
        -0.22995874285697937,
        -0.6110368967056274,
        1.1891613006591797,
        0.3540434241294861,
        -4.7200422286987305,
        1.1386287212371826,
        -4.011014938354492,
        1.9913158416748047,
        1.5598098039627075,
        0.8813819289207458,
        0.8996778130531311,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9250627756118774,
        -0.3431665301322937,
        0.5919899344444275,
        -0.23024578392505646,
        -0.6112741231918335,
        1.189497709274292,
        0.35376572608947754,
        -4.7199811935424805,
        1.1387180089950562,
        -4.011175155639648,
        1.9915112257003784,
        1.5598382949829102,
        0.8818970322608948,
        0.8998389840126038
      ],
      "target_rad": [
        -0.9250627756118774,
        -0.43046653270721436,
        0.13408994674682617,
        -0.23514577746391296,
        -0.1582741141319275,
        1.5385977029800415,
        0.702865719795227,
        -4.7199811935424805,
        1.1387180089950562,
        -4.011175155639648,
        2.0788111686706543,
        2.0177383422851562,
        0.8867970108985901,
        0.44683897495269775
      ],
      "elapsed_seconds": 5.327397957444191e-05
    },
    {
      "call": 221,
      "physics_step": 884,
      "sim_time_s": 4.419999999999928,
      "observation": [
        0.005433522630482912,
        0.01290094293653965,
        0.006146818399429321,
        -0.4194394052028656,
        -0.8373903036117554,
        -0.35049688816070557,
        -0.2637593746185303,
        -0.05719581991434097,
        0.8745893836021423,
        -0.32523754239082336,
        -0.5803459286689758,
        0.7009349465370178,
        0.32106706500053406,
        -2.9768872261047363,
        0.4403825104236603,
        -0.5336334705352783,
        0.3053528964519501,
        1.1149455308914185,
        0.9109098315238953,
        0.9057605862617493,
        -0.0013928643893450499,
        0.03216846287250519,
        -0.051008980721235275,
        0.008730367757380009,
        0.00021279517386574298,
        -0.00017659943841863424,
        0.01666247472167015,
        9.909097570925951e-05,
        -9.532814146950841e-05,
        -1.0636283150233794e-05,
        5.4079191613709554e-05,
        1.2389191397232935e-05,
        -0.0010036014718934894,
        -0.002257626736536622,
        -0.9250627756118774,
        -0.3431665301322937,
        0.5919899344444275,
        -0.23024578392505646,
        -0.6112741231918335,
        1.189497709274292,
        0.35376572608947754,
        -4.7199811935424805,
        1.1387180089950562,
        -4.011175155639648,
        1.9915112257003784,
        1.5598382949829102,
        0.8818970322608948,
        0.8998389840126038,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.925244927406311,
        -0.3433046340942383,
        0.5925253033638,
        -0.2305784523487091,
        -0.611562192440033,
        1.1898717880249023,
        0.3534817397594452,
        -4.7198872566223145,
        1.1387386322021484,
        -4.011274814605713,
        1.9916847944259644,
        1.5598763227462769,
        0.8825011849403381,
        0.8999924659729004
      ],
      "target_rad": [
        -0.925244927406311,
        -0.43060463666915894,
        0.13462531566619873,
        -0.2354784458875656,
        -0.15856218338012695,
        1.5389717817306519,
        0.7025817632675171,
        -4.7198872566223145,
        1.1387386322021484,
        -4.011274814605713,
        2.0789847373962402,
        2.0177762508392334,
        0.8874011635780334,
        0.4469924569129944
      ],
      "elapsed_seconds": 0.0003640290233306587
    },
    {
      "call": 222,
      "physics_step": 888,
      "sim_time_s": 4.439999999999928,
      "observation": [
        0.009160170331597328,
        0.01340089738368988,
        0.0016869684914126992,
        -0.4194028377532959,
        -0.8374164700508118,
        -0.35047808289527893,
        -0.2637849450111389,
        -0.056566961109638214,
        0.8735813498497009,
        -0.3250703811645508,
        -0.5803415179252625,
        0.7009316086769104,
        0.3213924765586853,
        -2.976884126663208,
        0.440380334854126,
        -0.5336335897445679,
        0.3053540289402008,
        1.114945650100708,
        0.9108928442001343,
        0.9057163000106812,
        -0.0012184567749500275,
        0.0309042539447546,
        -0.0500962920486927,
        0.008108905516564846,
        0.0002473290078341961,
        -0.00017026795831043273,
        0.016146617010235786,
        0.00016502258949913085,
        -0.00011035296483896673,
        -1.6567138345635612e-06,
        5.5009786592563614e-05,
        6.7869059421354905e-06,
        -0.0008098655380308628,
        -0.002198268659412861,
        -0.925244927406311,
        -0.3433046340942383,
        0.5925253033638,
        -0.2305784523487091,
        -0.611562192440033,
        1.1898717880249023,
        0.3534817397594452,
        -4.7198872566223145,
        1.1387386322021484,
        -4.011274814605713,
        1.9916847944259644,
        1.5598763227462769,
        0.8825011849403381,
        0.8999924659729004,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9252010583877563,
        -0.3436361253261566,
        0.5932316780090332,
        -0.23090729117393494,
        -0.6122931838035583,
        1.1902939081192017,
        0.35329318046569824,
        -4.719535827636719,
        1.1384974718093872,
        -4.011087417602539,
        1.9917649030685425,
        1.5597659349441528,
        0.8836512565612793,
        0.9002381563186646
      ],
      "target_rad": [
        -0.9252010583877563,
        -0.43093612790107727,
        0.13533169031143188,
        -0.23580728471279144,
        -0.15929317474365234,
        1.5393939018249512,
        0.7023931741714478,
        -4.719535827636719,
        1.1384974718093872,
        -4.011087417602539,
        2.0790648460388184,
        2.0176658630371094,
        0.8885512351989746,
        0.44723814725875854
      ],
      "elapsed_seconds": 0.0001132990000769496
    },
    {
      "call": 223,
      "physics_step": 892,
      "sim_time_s": 4.459999999999927,
      "observation": [
        0.008445978164672852,
        0.013174549676477909,
        0.0024462896399199963,
        -0.4193425178527832,
        -0.8374624252319336,
        -0.35044047236442566,
        -0.26380789279937744,
        -0.05597111955285072,
        0.8725903630256653,
        -0.3249075412750244,
        -0.5803411602973938,
        0.7009281516075134,
        0.32171523571014404,
        -2.976881265640259,
        0.4403780400753021,
        -0.5336334109306335,
        0.30535510182380676,
        1.1149457693099976,
        0.9108815789222717,
        0.9056736826896667,
        -0.0011242114705964923,
        0.029396528378129005,
        -0.049304891377687454,
        0.008270082995295525,
        -5.916584632359445e-05,
        -0.00017406993720214814,
        0.016146216541528702,
        0.00011991801875410601,
        -0.00011010213347617537,
        1.049925594998058e-05,
        4.897025792161003e-05,
        5.3899711929261684e-06,
        -0.0004953168681822717,
        -0.002108439337462187,
        -0.9252010583877563,
        -0.3436361253261566,
        0.5932316780090332,
        -0.23090729117393494,
        -0.6122931838035583,
        1.1902939081192017,
        0.35329318046569824,
        -4.719535827636719,
        1.1384974718093872,
        -4.011087417602539,
        1.9917649030685425,
        1.5597659349441528,
        0.8836512565612793,
        0.9002381563186646,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9252539873123169,
        -0.34358906745910645,
        0.5937314629554749,
        -0.23136217892169952,
        -0.6125478148460388,
        1.1905649900436401,
        0.3530265688896179,
        -4.719150066375732,
        1.138368844985962,
        -4.010810852050781,
        1.991781234741211,
        1.559856653213501,
        0.8841278553009033,
        0.9002925753593445
      ],
      "target_rad": [
        -0.9252539873123169,
        -0.4308890700340271,
        0.13583147525787354,
        -0.23626217246055603,
        -0.1595478057861328,
        1.5396649837493896,
        0.7021265625953674,
        -4.719150066375732,
        1.138368844985962,
        -4.010810852050781,
        2.0790812969207764,
        2.017756700515747,
        0.8890278339385986,
        0.4472925662994385
      ],
      "elapsed_seconds": 6.58149947412312e-05
    },
    {
      "call": 224,
      "physics_step": 896,
      "sim_time_s": 4.479999999999927,
      "observation": [
        0.006959608756005764,
        0.012829630635678768,
        0.00395724643021822,
        -0.41930872201919556,
        -0.8374865055084229,
        -0.3504234254360199,
        -0.26383042335510254,
        -0.05538532882928848,
        0.8716099858283997,
        -0.32474491000175476,
        -0.5803449153900146,
        0.7009246945381165,
        0.3220354914665222,
        -2.9768786430358887,
        0.4403757154941559,
        -0.5336331725120544,
        0.3053559362888336,
        1.1149460077285767,
        0.9108742475509644,
        0.9056320786476135,
        -0.0011343773221597075,
        0.02930324897170067,
        -0.048876307904720306,
        0.00814097747206688,
        -0.00023198705457616597,
        -0.00017077726079151034,
        0.015954209491610527,
        0.00013219936226960272,
        -0.00011297866876702756,
        1.5072913811309263e-05,
        3.5450375435175374e-05,
        1.1559626727830619e-05,
        -0.00033349456498399377,
        -0.002071704948320985,
        -0.9252539873123169,
        -0.34358906745910645,
        0.5937314629554749,
        -0.23136217892169952,
        -0.6125478148460388,
        1.1905649900436401,
        0.3530265688896179,
        -4.719150066375732,
        1.138368844985962,
        -4.010810852050781,
        1.991781234741211,
        1.559856653213501,
        0.8841278553009033,
        0.9002925753593445,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9254543781280518,
        -0.3435703217983246,
        0.5940674543380737,
        -0.23174461722373962,
        -0.6126149892807007,
        1.1907544136047363,
        0.3527650833129883,
        -4.718883514404297,
        1.1384047269821167,
        -4.010705947875977,
        1.991868019104004,
        1.5599702596664429,
        0.8842769861221313,
        0.9003395438194275
      ],
      "target_rad": [
        -0.9254543781280518,
        -0.43087032437324524,
        0.1361674666404724,
        -0.23664461076259613,
        -0.15961498022079468,
        1.5398544073104858,
        0.7018650770187378,
        -4.718883514404297,
        1.1384047269821167,
        -4.010705947875977,
        2.0791680812835693,
        2.0178701877593994,
        0.8891769647598267,
        0.4473395347595215
      ],
      "elapsed_seconds": 6.628496339544654e-05
    },
    {
      "call": 225,
      "physics_step": 900,
      "sim_time_s": 4.499999999999926,
      "observation": [
        0.006022819317877293,
        0.012633655220270157,
        0.004846956115216017,
        -0.41929560899734497,
        -0.8374930024147034,
        -0.35042351484298706,
        -0.26385459303855896,
        -0.05479425564408302,
        0.8706355690956116,
        -0.32458633184432983,
        -0.5803508758544922,
        0.7009212970733643,
        0.32234951853752136,
        -2.9768757820129395,
        0.4403735101222992,
        -0.5336328148841858,
        0.30535662174224854,
        1.1149463653564453,
        0.9108685255050659,
        0.9055910110473633,
        -0.0012462763115763664,
        0.029677482321858406,
        -0.04862571507692337,
        0.007901478558778763,
        -0.0003221016377210617,
        -0.00016945037350524217,
        0.01558598317205906,
        0.00014603266026824713,
        -0.00010694116645026952,
        1.5188979887170717e-05,
        3.245648986194283e-05,
        1.6270145351882093e-05,
        -0.0002728468971326947,
        -0.002043688902631402,
        -0.9254543781280518,
        -0.3435703217983246,
        0.5940674543380737,
        -0.23174461722373962,
        -0.6126149892807007,
        1.1907544136047363,
        0.3527650833129883,
        -4.718883514404297,
        1.1384047269821167,
        -4.010705947875977,
        1.991868019104004,
        1.5599702596664429,
        0.8842769861221313,
        0.9003395438194275,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9256857633590698,
        -0.34361162781715393,
        0.5944176912307739,
        -0.232060506939888,
        -0.612684965133667,
        1.1909661293029785,
        0.35250839591026306,
        -4.718692779541016,
        1.138511061668396,
        -4.010707378387451,
        1.9919894933700562,
        1.5600433349609375,
        0.8844365477561951,
        0.9004057049751282
      ],
      "target_rad": [
        -0.9256857633590698,
        -0.4309116303920746,
        0.1365177035331726,
        -0.2369605004787445,
        -0.159684956073761,
        1.540066123008728,
        0.701608419418335,
        -4.718692779541016,
        1.138511061668396,
        -4.010707378387451,
        2.079289436340332,
        2.0179433822631836,
        0.8893365263938904,
        0.44740569591522217
      ],
      "elapsed_seconds": 4.8483023419976234e-05
    },
    {
      "call": 226,
      "physics_step": 904,
      "sim_time_s": 4.519999999999926,
      "observation": [
        0.005574047099798918,
        0.012571497820317745,
        0.005217451136559248,
        -0.4192926287651062,
        -0.837490439414978,
        -0.35043323040008545,
        -0.2638813853263855,
        -0.05419732630252838,
        0.8696666955947876,
        -0.3244304955005646,
        -0.5803585052490234,
        0.7009178996086121,
        0.3226551115512848,
        -2.976872682571411,
        0.44037148356437683,
        -0.5336325764656067,
        0.30535733699798584,
        1.114946722984314,
        0.9108638763427734,
        0.9055506587028503,
        -0.0013918132754042745,
        0.029932403936982155,
        -0.04833231866359711,
        0.00782169308513403,
        -0.0004032199503853917,
        -0.00016674310609232634,
        0.015138457529246807,
        0.00014611483493354172,
        -9.656394831836224e-05,
        1.3242910426924936e-05,
        3.482345709926449e-05,
        1.6506332030985504e-05,
        -0.00022094405721873045,
        -0.0020114139188081026,
        -0.9256857633590698,
        -0.34361162781715393,
        0.5944176912307739,
        -0.232060506939888,
        -0.612684965133667,
        1.1909661293029785,
        0.35250839591026306,
        -4.718692779541016,
        1.138511061668396,
        -4.010707378387451,
        1.9919894933700562,
        1.5600433349609375,
        0.8844365477561951,
        0.9004057049751282,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9259027242660522,
        -0.34368687868118286,
        0.594813346862793,
        -0.2323554903268814,
        -0.6128082275390625,
        1.1912230253219604,
        0.3522455394268036,
        -4.718548774719238,
        1.1386107206344604,
        -4.01076078414917,
        1.9921282529830933,
        1.5600965023040771,
        0.884705662727356,
        0.9004945755004883
      ],
      "target_rad": [
        -0.9259027242660522,
        -0.4309868812561035,
        0.13691335916519165,
        -0.23725548386573792,
        -0.1598082184791565,
        1.54032301902771,
        0.7013455629348755,
        -4.718548774719238,
        1.1386107206344604,
        -4.01076078414917,
        2.079428195953369,
        2.0179965496063232,
        0.8896056413650513,
        0.4474945664405823
      ],
      "elapsed_seconds": 0.000129060004837811
    },
    {
      "call": 227,
      "physics_step": 908,
      "sim_time_s": 4.539999999999925,
      "observation": [
        0.005437543150037527,
        0.012601244263350964,
        0.005266885738819838,
        -0.4192924499511719,
        -0.8374847173690796,
        -0.3504470884799957,
        -0.2639111280441284,
        -0.05359768494963646,
        0.8687049150466919,
        -0.32427361607551575,
        -0.5803679823875427,
        0.7009146213531494,
        0.32295116782188416,
        -2.976869821548462,
        0.4403696358203888,
        -0.5336323380470276,
        0.3053581416606903,
        1.114946961402893,
        0.9108606576919556,
        0.9055109620094299,
        -0.0015446427278220654,
        0.030037175863981247,
        -0.04796138405799866,
        0.0079408073797822,
        -0.0005055689252912998,
        -0.00016115495236590505,
        0.014644983224570751,
        0.00013588294677902013,
        -8.89082730282098e-05,
        1.0484495760465506e-05,
        3.8415586459450424e-05,
        1.5008087757450994e-05,
        -0.00014155068492982537,
        -0.001972485799342394,
        -0.9259027242660522,
        -0.34368687868118286,
        0.594813346862793,
        -0.2323554903268814,
        -0.6128082275390625,
        1.1912230253219604,
        0.3522455394268036,
        -4.718548774719238,
        1.1386107206344604,
        -4.01076078414917,
        1.9921282529830933,
        1.5600965023040771,
        0.884705662727356,
        0.9004945755004883,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9261022806167603,
        -0.34378206729888916,
        0.5952447056770325,
        -0.2326570600271225,
        -0.6129865646362305,
        1.191509485244751,
        0.3519803285598755,
        -4.718422889709473,
        1.138674020767212,
        -4.010828971862793,
        1.992275595664978,
        1.5601446628570557,
        0.8850809931755066,
        0.9006038308143616
      ],
      "target_rad": [
        -0.9261022806167603,
        -0.4310820698738098,
        0.13734471797943115,
        -0.237557053565979,
        -0.15998655557632446,
        1.5406094789505005,
        0.701080322265625,
        -4.718422889709473,
        1.138674020767212,
        -4.010828971862793,
        2.079575538635254,
        2.0180447101593018,
        0.8899809718132019,
        0.44760382175445557
      ],
      "elapsed_seconds": 9.430700447410345e-05
    },
    {
      "call": 228,
      "physics_step": 912,
      "sim_time_s": 4.559999999999925,
      "observation": [
        0.005302275065332651,
        0.012635740451514721,
        0.00531039061024785,
        -0.41929253935813904,
        -0.8374779224395752,
        -0.35046330094337463,
        -0.2639436423778534,
        -0.052998557686805725,
        0.86775141954422,
        -0.32411321997642517,
        -0.580379843711853,
        0.7009114623069763,
        0.32323741912841797,
        -2.976867198944092,
        0.4403679072856903,
        -0.5336320996284485,
        0.30535900592803955,
        1.1149473190307617,
        0.9108595848083496,
        0.9054722189903259,
        -0.0016706400783732533,
        0.029936520382761955,
        -0.0475190170109272,
        0.008135142736136913,
        -0.0006229240680113435,
        -0.00015633611474186182,
        0.014162196777760983,
        0.00012375903315842152,
        -8.540946146240458e-05,
        8.631724995211698e-06,
        4.1701288864715025e-05,
        1.409306514688069e-05,
        -3.224575630156323e-05,
        -0.0019272270146757364,
        -0.9261022806167603,
        -0.34378206729888916,
        0.5952447056770325,
        -0.2326570600271225,
        -0.6129865646362305,
        1.191509485244751,
        0.3519803285598755,
        -4.718422889709473,
        1.138674020767212,
        -4.010828971862793,
        1.992275595664978,
        1.5601446628570557,
        0.8850809931755066,
        0.9006038308143616,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9263005256652832,
        -0.34387898445129395,
        0.5956791043281555,
        -0.23297664523124695,
        -0.6131817102432251,
        1.191811442375183,
        0.35171419382095337,
        -4.718324184417725,
        1.1387131214141846,
        -4.010906219482422,
        1.9924333095550537,
        1.5602010488510132,
        0.8854994773864746,
        0.9007201790809631
      ],
      "target_rad": [
        -0.9263005256652832,
        -0.4311789870262146,
        0.1377791166305542,
        -0.23787663877010345,
        -0.1601817011833191,
        1.5409114360809326,
        0.7008141875267029,
        -4.718324184417725,
        1.1387131214141846,
        -4.010906219482422,
        2.079733371734619,
        2.0181009769439697,
        0.8903994560241699,
        0.44772017002105713
      ],
      "elapsed_seconds": 7.788604125380516e-05
    },
    {
      "call": 229,
      "physics_step": 916,
      "sim_time_s": 4.579999999999925,
      "observation": [
        0.005181577987968922,
        0.01265767216682434,
        0.005332474131137133,
        -0.41929295659065247,
        -0.8374699354171753,
        -0.35048186779022217,
        -0.26397836208343506,
        -0.05240248143672943,
        0.8668071031570435,
        -0.32394933700561523,
        -0.5803940892219543,
        0.7009084224700928,
        0.3235144019126892,
        -2.976864814758301,
        0.4403661787509918,
        -0.5336319804191589,
        0.30535992980003357,
        1.1149475574493408,
        0.9108608365058899,
        0.9054343700408936,
        -0.0017754656728357077,
        0.0297661442309618,
        -0.047058820724487305,
        0.008295973762869835,
        -0.000745355908293277,
        -0.00015146525402087718,
        0.013708916492760181,
        0.0001144884736277163,
        -8.475819049635902e-05,
        7.927560545795131e-06,
        4.4288386561675e-05,
        1.4063017260923516e-05,
        9.139774192590266e-05,
        -0.0018796124495565891,
        -0.9263005256652832,
        -0.34387898445129395,
        0.5956791043281555,
        -0.23297664523124695,
        -0.6131817102432251,
        1.191811442375183,
        0.35171419382095337,
        -4.718324184417725,
        1.1387131214141846,
        -4.010906219482422,
        1.9924333095550537,
        1.5602010488510132,
        0.8854994773864746,
        0.9007201790809631,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9265031814575195,
        -0.34398236870765686,
        0.596109926700592,
        -0.2333061695098877,
        -0.6133852601051331,
        1.1921217441558838,
        0.3514546751976013,
        -4.718249320983887,
        1.1387382745742798,
        -4.010997295379639,
        1.992600679397583,
        1.560264229774475,
        0.8859370350837708,
        0.900844156742096
      ],
      "target_rad": [
        -0.9265031814575195,
        -0.4312823712825775,
        0.13820993900299072,
        -0.2382061630487442,
        -0.16038525104522705,
        1.5412217378616333,
        0.7005546689033508,
        -4.718249320983887,
        1.1387382745742798,
        -4.010997295379639,
        2.0799007415771484,
        2.0181641578674316,
        0.8908370137214661,
        0.44784414768218994
      ],
      "elapsed_seconds": 0.00013800099259242415
    },
    {
      "call": 230,
      "physics_step": 920,
      "sim_time_s": 4.599999999999924,
      "observation": [
        0.004601607099175453,
        0.012627849355340004,
        0.005813251249492168,
        -0.4193297028541565,
        -0.8374309539794922,
        -0.35053104162216187,
        -0.2640172839164734,
        -0.051802538335323334,
        0.8658697009086609,
        -0.32377421855926514,
        -0.5804125070571899,
        0.7009055018424988,
        0.3237818777561188,
        -2.976863145828247,
        0.4403645396232605,
        -0.5336318612098694,
        0.30536091327667236,
        1.1149479150772095,
        0.9108646512031555,
        0.9053975343704224,
        -0.0018774359486997128,
        0.030008304864168167,
        -0.046592265367507935,
        0.008628197945654392,
        -0.0008762110956013203,
        -0.00013260607374832034,
        0.013165660202503204,
        0.00014504497812595218,
        -9.248327114619315e-05,
        2.426513674436137e-06,
        4.128021828364581e-05,
        7.898814146756195e-06,
        0.00022986794647295028,
        -0.001831629197113216,
        -0.9265031814575195,
        -0.34398236870765686,
        0.596109926700592,
        -0.2333061695098877,
        -0.6133852601051331,
        1.1921217441558838,
        0.3514546751976013,
        -4.718249320983887,
        1.1387382745742798,
        -4.010997295379639,
        1.992600679397583,
        1.560264229774475,
        0.8859370350837708,
        0.900844156742096,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9268002510070801,
        -0.3440883755683899,
        0.5965309143066406,
        -0.2336447685956955,
        -0.6135251522064209,
        1.1925020217895508,
        0.3511635959148407,
        -4.7183518409729,
        1.1388275623321533,
        -4.011291027069092,
        1.9928654432296753,
        1.5603824853897095,
        0.8863375782966614,
        0.9009934067726135
      ],
      "target_rad": [
        -0.9268002510070801,
        -0.43138837814331055,
        0.1386309266090393,
        -0.238544762134552,
        -0.1605251431465149,
        1.5416020154953003,
        0.7002636194229126,
        -4.7183518409729,
        1.1388275623321533,
        -4.011291027069092,
        2.080165386199951,
        2.018282413482666,
        0.8912375569343567,
        0.4479933977127075
      ],
      "elapsed_seconds": 7.908599218353629e-05
    },
    {
      "call": 231,
      "physics_step": 924,
      "sim_time_s": 4.619999999999924,
      "observation": [
        0.0057472907938063145,
        0.012821434065699577,
        0.004450144246220589,
        -0.4193184971809387,
        -0.8374305963516235,
        -0.3505452275276184,
        -0.2640559673309326,
        -0.05120973289012909,
        0.8649441003799438,
        -0.3236057162284851,
        -0.5804311037063599,
        0.7009027600288391,
        0.3240392804145813,
        -2.976860523223877,
        0.44036272168159485,
        -0.5336316823959351,
        0.3053620159626007,
        1.1149482727050781,
        0.9108710885047913,
        0.9053617715835571,
        -0.001976356841623783,
        0.0294637493789196,
        -0.04613452032208443,
        0.008436677046120167,
        -0.0009597702883183956,
        -0.00013831729302182794,
        0.012764982879161835,
        0.00010698915139073506,
        -8.565632742829621e-05,
        8.25126699055545e-06,
        5.668076119036414e-05,
        1.722181332297623e-05,
        0.00034491100814193487,
        -0.0017741058254614472,
        -0.9268002510070801,
        -0.3440883755683899,
        0.5965309143066406,
        -0.2336447685956955,
        -0.6135251522064209,
        1.1925020217895508,
        0.3511635959148407,
        -4.7183518409729,
        1.1388275623321533,
        -4.011291027069092,
        1.9928654432296753,
        1.5603824853897095,
        0.8863375782966614,
        0.9009934067726135,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9269481897354126,
        -0.3442955017089844,
        0.5969929695129395,
        -0.2339690923690796,
        -0.6138879656791687,
        1.1928271055221558,
        0.35096246004104614,
        -4.718297481536865,
        1.1387584209442139,
        -4.011337757110596,
        1.9930248260498047,
        1.560384750366211,
        0.8870049715042114,
        0.901160717010498
      ],
      "target_rad": [
        -0.9269481897354126,
        -0.43159550428390503,
        0.13909298181533813,
        -0.2388690859079361,
        -0.1608879566192627,
        1.5419270992279053,
        0.7000624537467957,
        -4.718297481536865,
        1.1387584209442139,
        -4.011337757110596,
        2.08032488822937,
        2.018284797668457,
        0.8919049501419067,
        0.44816070795059204
      ],
      "elapsed_seconds": 0.00011508900206536055
    },
    {
      "call": 232,
      "physics_step": 928,
      "sim_time_s": 4.639999999999923,
      "observation": [
        0.005484330002218485,
        0.012735044583678246,
        0.004663513507694006,
        -0.41930505633354187,
        -0.8374319076538086,
        -0.35055825114250183,
        -0.26409587264060974,
        -0.050629060715436935,
        0.8640281558036804,
        -0.3234376609325409,
        -0.5804529190063477,
        0.7009000182151794,
        0.32429182529449463,
        -2.976858615875244,
        0.44036099314689636,
        -0.5336315035820007,
        0.3053632080554962,
        1.1149485111236572,
        0.9108809232711792,
        0.9053272008895874,
        -0.0020103403367102146,
        0.02889075316488743,
        -0.045625071972608566,
        0.008459832519292831,
        -0.001136001548729837,
        -0.00013607193250209093,
        0.012570999562740326,
        8.4415813034866e-05,
        -8.444535342277959e-05,
        1.1714238098647911e-05,
        5.499481630977243e-05,
        1.5329347661463544e-05,
        0.0005296237068250775,
        -0.0017111486522480845,
        -0.9269481897354126,
        -0.3442955017089844,
        0.5969929695129395,
        -0.2339690923690796,
        -0.6138879656791687,
        1.1928271055221558,
        0.35096246004104614,
        -4.718297481536865,
        1.1387584209442139,
        -4.011337757110596,
        1.9930248260498047,
        1.560384750366211,
        0.8870049715042114,
        0.901160717010498,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9271253347396851,
        -0.3443664610385895,
        0.5974305868148804,
        -0.23434048891067505,
        -0.614109218120575,
        1.1931469440460205,
        0.35071033239364624,
        -4.718211650848389,
        1.1387280225753784,
        -4.011378765106201,
        1.9931764602661133,
        1.5604677200317383,
        0.8874697089195251,
        0.9012744426727295
      ],
      "target_rad": [
        -0.9271253347396851,
        -0.43166646361351013,
        0.13953059911727905,
        -0.23924048244953156,
        -0.16110920906066895,
        1.54224693775177,
        0.6998103260993958,
        -4.718211650848389,
        1.1387280225753784,
        -4.011378765106201,
        2.0804765224456787,
        2.0183677673339844,
        0.8923696875572205,
        0.4482744336128235
      ],
      "elapsed_seconds": 0.000108768988866359
    },
    {
      "call": 233,
      "physics_step": 932,
      "sim_time_s": 4.659999999999923,
      "observation": [
        0.005102535709738731,
        0.012622219510376453,
        0.004970591980963945,
        -0.41929763555526733,
        -0.8374279141426086,
        -0.3505766987800598,
        -0.26413676142692566,
        -0.05005394294857979,
        0.8631211519241333,
        -0.3232708275318146,
        -0.5804776549339294,
        0.7008973956108093,
        0.3245396614074707,
        -2.9768569469451904,
        0.4403592348098755,
        -0.5336312055587769,
        0.30536431074142456,
        1.1149488687515259,
        0.9108937382698059,
        0.9052937030792236,
        -0.002068315865471959,
        0.028738360852003098,
        -0.045212212949991226,
        0.00835497584193945,
        -0.001270717941224575,
        -0.00013148627476766706,
        0.012317605316638947,
        8.61387889017351e-05,
        -8.568805787945166e-05,
        1.3427115845843218e-05,
        5.15208303113468e-05,
        1.6937419786700048e-05,
        0.0006705914856866002,
        -0.001663516042754054,
        -0.9271253347396851,
        -0.3443664610385895,
        0.5974305868148804,
        -0.23434048891067505,
        -0.614109218120575,
        1.1931469440460205,
        0.35071033239364624,
        -4.718211650848389,
        1.1387280225753784,
        -4.011378765106201,
        1.9931764602661133,
        1.5604677200317383,
        0.8874697089195251,
        0.9012744426727295,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9273397922515869,
        -0.34446096420288086,
        0.5978159308433533,
        -0.23469121754169464,
        -0.6142944097518921,
        1.1934418678283691,
        0.3504686653614044,
        -4.718165397644043,
        1.138730525970459,
        -4.011464595794678,
        1.993350625038147,
        1.5605531930923462,
        0.887866735458374,
        0.9013940095901489
      ],
      "target_rad": [
        -0.9273397922515869,
        -0.4317609667778015,
        0.13991594314575195,
        -0.23959121108055115,
        -0.16129440069198608,
        1.5425418615341187,
        0.6995686292648315,
        -4.718165397644043,
        1.138730525970459,
        -4.011464595794678,
        2.080650568008423,
        2.0184531211853027,
        0.8927667140960693,
        0.4483940005302429
      ],
      "elapsed_seconds": 7.294595707207918e-05
    },
    {
      "call": 234,
      "physics_step": 936,
      "sim_time_s": 4.6799999999999224,
      "observation": [
        0.004841362591832876,
        0.012536692433059216,
        0.005143053829669952,
        -0.4192946255207062,
        -0.837419867515564,
        -0.3505994975566864,
        -0.2641791105270386,
        -0.049480292946100235,
        0.8622215986251831,
        -0.3231067955493927,
        -0.5805047750473022,
        0.7008947730064392,
        0.3247821033000946,
        -2.9768550395965576,
        0.440357506275177,
        -0.5336309671401978,
        0.3053653836250305,
        1.114949345588684,
        0.9109089970588684,
        0.9052611589431763,
        -0.0021485593169927597,
        0.02868952415883541,
        -0.044852130115032196,
        0.008201561868190765,
        -0.0013866681838408113,
        -0.000128465355373919,
        0.012039555236697197,
        8.772219007369131e-05,
        -8.450356108369306e-05,
        1.4091036064201035e-05,
        5.1108574552927166e-05,
        1.8257804185850546e-05,
        0.0007885543163865805,
        -0.0016163013642653823,
        -0.9273397922515869,
        -0.34446096420288086,
        0.5978159308433533,
        -0.23469121754169464,
        -0.6142944097518921,
        1.1934418678283691,
        0.3504686653614044,
        -4.718165397644043,
        1.138730525970459,
        -4.011464595794678,
        1.993350625038147,
        1.5605531930923462,
        0.887866735458374,
        0.9013940095901489,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9275611639022827,
        -0.3445678651332855,
        0.5982025861740112,
        -0.2350267767906189,
        -0.6144789457321167,
        1.1937421560287476,
        0.35023176670074463,
        -4.718140125274658,
        1.1387484073638916,
        -4.011578559875488,
        1.993532657623291,
        1.5606307983398438,
        0.8882628083229065,
        0.901516854763031
      ],
      "target_rad": [
        -0.9275611639022827,
        -0.4318678677082062,
        0.1403025984764099,
        -0.2399267703294754,
        -0.1614789366722107,
        1.542842149734497,
        0.6993317604064941,
        -4.718140125274658,
        1.1387484073638916,
        -4.011578559875488,
        2.0808327198028564,
        2.01853084564209,
        0.8931627869606018,
        0.448516845703125
      ],
      "elapsed_seconds": 0.00010083796223625541
    },
    {
      "call": 235,
      "physics_step": 940,
      "sim_time_s": 4.699999999999922,
      "observation": [
        0.001423352281562984,
        0.012107262387871742,
        0.009005791507661343,
        -0.41932135820388794,
        -0.8373868465423584,
        -0.35064631700515747,
        -0.2642250061035156,
        -0.048905305564403534,
        0.8613274693489075,
        -0.3229402005672455,
        -0.5805354714393616,
        0.7008922100067139,
        0.32501906156539917,
        -2.976854085922241,
        0.44035595655441284,
        -0.5336306095123291,
        0.30536654591560364,
        1.1149498224258423,
        0.9109264016151428,
        0.9052295684814453,
        -0.002445394406095147,
        0.02899228222668171,
        -0.044696398079395294,
        0.008723457343876362,
        -0.0016533528687432408,
        -0.0001320207375101745,
        0.011753376573324203,
        -6.746692093884121e-08,
        -6.595797458430752e-05,
        1.4320553418656345e-05,
        5.689002500730567e-05,
        2.7724661777028814e-05,
        0.0008867356809787452,
        -0.0015652800211682916,
        -0.9275611639022827,
        -0.3445678651332855,
        0.5982025861740112,
        -0.2350267767906189,
        -0.6144789457321167,
        1.1937421560287476,
        0.35023176670074463,
        -4.718140125274658,
        1.1387484073638916,
        -4.011578559875488,
        1.993532657623291,
        1.5606307983398438,
        0.8882628083229065,
        0.901516854763031,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9279526472091675,
        -0.3444674015045166,
        0.5983943939208984,
        -0.23538334667682648,
        -0.6142503023147583,
        1.1939618587493896,
        0.34992486238479614,
        -4.718321323394775,
        1.138960838317871,
        -4.011878490447998,
        1.993767261505127,
        1.5608458518981934,
        0.888143002986908,
        0.9015400409698486
      ],
      "target_rad": [
        -0.9279526472091675,
        -0.43176740407943726,
        0.14049440622329712,
        -0.24028334021568298,
        -0.1612502932548523,
        1.5430618524551392,
        0.6990248560905457,
        -4.718321323394775,
        1.138960838317871,
        -4.011878490447998,
        2.0810673236846924,
        2.0187458992004395,
        0.8930429816246033,
        0.4485400319099426
      ],
      "elapsed_seconds": 6.289500743150711e-05
    },
    {
      "call": 236,
      "physics_step": 944,
      "sim_time_s": 4.719999999999922,
      "observation": [
        0.0012642056681215763,
        0.01219103578478098,
        0.008983159437775612,
        -0.41939306259155273,
        -0.8373153805732727,
        -0.3507312834262848,
        -0.2642786502838135,
        -0.048306871205568314,
        0.8604344129562378,
        -0.3227658271789551,
        -0.5805684328079224,
        0.7008898258209229,
        0.32524436712265015,
        -2.976853370666504,
        0.4403546452522278,
        -0.5336304903030396,
        0.30536773800849915,
        1.11495041847229,
        0.9109440445899963,
        0.9051985144615173,
        -0.0028379904106259346,
        0.03041612170636654,
        -0.04459787532687187,
        0.008737382479012012,
        -0.0016422201879322529,
        -0.0001133083351305686,
        0.01102376077324152,
        5.46441697224509e-05,
        -6.897210550960153e-05,
        4.140428700338816e-06,
        5.5319043894996867e-05,
        2.5877458028844558e-05,
        0.0008800355717539787,
        -0.001548580825328827,
        -0.9279526472091675,
        -0.3444674015045166,
        0.5983943939208984,
        -0.23538334667682648,
        -0.6142503023147583,
        1.1939618587493896,
        0.34992486238479614,
        -4.718321323394775,
        1.138960838317871,
        -4.011878490447998,
        1.993767261505127,
        1.5608458518981934,
        0.888143002986908,
        0.9015400409698486,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9283551573753357,
        -0.34468963742256165,
        0.5987411141395569,
        -0.2356323003768921,
        -0.614352285861969,
        1.19434654712677,
        0.3496576249599457,
        -4.71864128112793,
        1.139150857925415,
        -4.012411117553711,
        1.9941327571868896,
        1.560943603515625,
        0.8884927034378052,
        0.9017364382743835
      ],
      "target_rad": [
        -0.9283551573753357,
        -0.4319896399974823,
        0.14084112644195557,
        -0.2405322939157486,
        -0.161352276802063,
        1.5434465408325195,
        0.6987576484680176,
        -4.71864128112793,
        1.139150857925415,
        -4.012411117553711,
        2.081432819366455,
        2.018843650817871,
        0.8933926820755005,
        0.44873642921447754
      ],
      "elapsed_seconds": 7.009500404819846e-05
    },
    {
      "call": 237,
      "physics_step": 948,
      "sim_time_s": 4.739999999999921,
      "observation": [
        0.0027023437432944775,
        0.012542552314698696,
        0.007273745257407427,
        -0.419437974691391,
        -0.8372645378112793,
        -0.35079890489578247,
        -0.2643420994281769,
        -0.04769060015678406,
        0.8595461249351501,
        -0.3225913941860199,
        -0.5806020498275757,
        0.7008876800537109,
        0.3254562318325043,
        -2.9768524169921875,
        0.44035330414772034,
        -0.5336304306983948,
        0.30536913871765137,
        1.1149508953094482,
        0.9109630584716797,
        0.9051685333251953,
        -0.003369414946064353,
        0.031047767028212547,
        -0.04431856796145439,
        0.008767511695623398,
        -0.0016965005779638886,
        -0.00010461336933076382,
        0.01040173415094614,
        4.74149601359386e-05,
        -6.458251300500706e-05,
        1.4921336060069734e-06,
        7.143951370380819e-05,
        2.3363876607618295e-05,
        0.0009718092624098063,
        -0.0014848485589027405,
        -0.9283551573753357,
        -0.34468963742256165,
        0.5987411141395569,
        -0.2356323003768921,
        -0.614352285861969,
        1.19434654712677,
        0.3496576249599457,
        -4.71864128112793,
        1.139150857925415,
        -4.012411117553711,
        1.9941327571868896,
        1.560943603515625,
        0.8884927034378052,
        0.9017364382743835,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9286114573478699,
        -0.3449847102165222,
        0.599253237247467,
        -0.23591800034046173,
        -0.6147295236587524,
        1.1948095560073853,
        0.34942489862442017,
        -4.718870639801025,
        1.1391584873199463,
        -4.012791156768799,
        1.9944424629211426,
        1.5609761476516724,
        0.8892626166343689,
        0.9019737839698792
      ],
      "target_rad": [
        -0.9286114573478699,
        -0.43228471279144287,
        0.14135324954986572,
        -0.24081799387931824,
        -0.16172951459884644,
        1.5439095497131348,
        0.6985248923301697,
        -4.718870639801025,
        1.1391584873199463,
        -4.012791156768799,
        2.081742525100708,
        2.018876075744629,
        0.8941625952720642,
        0.44897377490997314
      ],
      "elapsed_seconds": 0.00010526797268539667
    },
    {
      "call": 238,
      "physics_step": 952,
      "sim_time_s": 4.759999999999921,
      "observation": [
        0.003635245840996504,
        0.012728510424494743,
        0.006152221467345953,
        -0.4194580018520355,
        -0.8372334241867065,
        -0.3508492708206177,
        -0.26441219449043274,
        -0.04707394167780876,
        0.8586668372154236,
        -0.3224150538444519,
        -0.5806384086608887,
        0.7008857131004333,
        0.3256590664386749,
        -2.97685170173645,
        0.4403519630432129,
        -0.53363037109375,
        0.3053707778453827,
        1.114951252937317,
        0.9109858274459839,
        0.9051400423049927,
        -0.003577590687200427,
        0.03077557124197483,
        -0.043793149292469025,
        0.008899063803255558,
        -0.0018557904986664653,
        -9.79972755885683e-05,
        0.01003486942499876,
        2.6231527954223566e-05,
        -6.644477980444208e-05,
        4.0703589547774754e-06,
        7.954696047818288e-05,
        1.9506231183186173e-05,
        0.0011804784880951047,
        -0.0014039817033335567,
        -0.9286114573478699,
        -0.3449847102165222,
        0.599253237247467,
        -0.23591800034046173,
        -0.6147295236587524,
        1.1948095560073853,
        0.34942489862442017,
        -4.718870639801025,
        1.1391584873199463,
        -4.012791156768799,
        1.9944424629211426,
        1.5609761476516724,
        0.8892626166343689,
        0.9019737839698792,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9288227558135986,
        -0.3452094793319702,
        0.5997651219367981,
        -0.23628249764442444,
        -0.6151159405708313,
        1.1952683925628662,
        0.3491883873939514,
        -4.719026565551758,
        1.1390726566314697,
        -4.013063907623291,
        1.9947155714035034,
        1.5610524415969849,
        0.8900571465492249,
        0.9021898508071899
      ],
      "target_rad": [
        -0.9288227558135986,
        -0.43250948190689087,
        0.14186513423919678,
        -0.24118249118328094,
        -0.1621159315109253,
        1.5443683862686157,
        0.6982883810997009,
        -4.719026565551758,
        1.1390726566314697,
        -4.013063907623291,
        2.0820155143737793,
        2.0189523696899414,
        0.8949571251869202,
        0.44918984174728394
      ],
      "elapsed_seconds": 5.875399801880121e-05
    },
    {
      "call": 239,
      "physics_step": 956,
      "sim_time_s": 4.77999999999992,
      "observation": [
        0.0040238844230771065,
        0.01273973286151886,
        0.005616894923150539,
        -0.41946524381637573,
        -0.8372124433517456,
        -0.3508906364440918,
        -0.26448363065719604,
        -0.04646635428071022,
        0.8577984571456909,
        -0.32223832607269287,
        -0.5806781649589539,
        0.7008838653564453,
        0.32585665583610535,
        -2.976851224899292,
        0.4403504729270935,
        -0.5336302518844604,
        0.3053724765777588,
        1.114951729774475,
        0.9110130071640015,
        0.905113160610199,
        -0.0035753771662712097,
        0.030237814411520958,
        -0.04323242977261543,
        0.008867273107171059,
        -0.0020320855546742678,
        -9.328877786174417e-05,
        0.009823823347687721,
        1.9971092115156353e-05,
        -7.387718505924568e-05,
        8.869509656506125e-06,
        8.004264964256436e-05,
        1.998737388930749e-05,
        0.0014073305064812303,
        -0.001327606849372387,
        -0.9288227558135986,
        -0.3452094793319702,
        0.5997651219367981,
        -0.23628249764442444,
        -0.6151159405708313,
        1.1952683925628662,
        0.3491883873939514,
        -4.719026565551758,
        1.1390726566314697,
        -4.013063907623291,
        1.9947155714035034,
        1.5610524415969849,
        0.8900571465492249,
        0.9021898508071899,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9290472269058228,
        -0.34539535641670227,
        0.600212037563324,
        -0.236677348613739,
        -0.6154448986053467,
        1.1956818103790283,
        0.34896212816238403,
        -4.7191643714904785,
        1.138974905014038,
        -4.013295650482178,
        1.9949758052825928,
        1.5611542463302612,
        0.8907516002655029,
        0.9023871421813965
      ],
      "target_rad": [
        -0.9290472269058228,
        -0.4326953589916229,
        0.14231204986572266,
        -0.24157734215259552,
        -0.16244488954544067,
        1.5447818040847778,
        0.6980621218681335,
        -4.7191643714904785,
        1.138974905014038,
        -4.013295650482178,
        2.082275867462158,
        2.0190541744232178,
        0.8956515789031982,
        0.4493871331214905
      ],
      "elapsed_seconds": 0.0001238700351677835
    },
    {
      "call": 240,
      "physics_step": 960,
      "sim_time_s": 4.79999999999992,
      "observation": [
        0.00412622420117259,
        0.012652787379920483,
        0.005388808436691761,
        -0.4194674491882324,
        -0.8371955156326294,
        -0.35092830657958984,
        -0.2645544707775116,
        -0.0458686463534832,
        0.8569402694702148,
        -0.3220650255680084,
        -0.5807212591171265,
        0.700882077217102,
        0.3260512053966522,
        -2.976850986480713,
        0.44034886360168457,
        -0.5336299538612366,
        0.3053741455078125,
        1.1149522066116333,
        0.9110443592071533,
        0.9050876498222351,
        -0.0035366874653846025,
        0.029768092557787895,
        -0.04274901747703552,
        0.008631282486021519,
        -0.002191743114963174,
        -9.091797983273864e-05,
        0.009700463153421879,
        2.315130586794112e-05,
        -7.983174145920202e-05,
        1.3645588296640199e-05,
        7.773482502670959e-05,
        2.228156699857209e-05,
        0.001608921098522842,
        -0.001257469062693417,
        -0.9290472269058228,
        -0.34539535641670227,
        0.600212037563324,
        -0.236677348613739,
        -0.6154448986053467,
        1.1956818103790283,
        0.34896212816238403,
        -4.7191643714904785,
        1.138974905014038,
        -4.013295650482178,
        1.9949758052825928,
        1.5611542463302612,
        0.8907516002655029,
        0.9023871421813965,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9292865991592407,
        -0.345562607049942,
        0.6006145477294922,
        -0.23706753551959991,
        -0.615722119808197,
        1.1960608959197998,
        0.34874576330184937,
        -4.719293594360352,
        1.1388989686965942,
        -4.013511657714844,
        1.9952280521392822,
        1.5612620115280151,
        0.8913475275039673,
        0.90256667137146
      ],
      "target_rad": [
        -0.9292865991592407,
        -0.43286260962486267,
        0.14271456003189087,
        -0.24196752905845642,
        -0.16272211074829102,
        1.5451608896255493,
        0.6978457570075989,
        -4.719293594360352,
        1.1388989686965942,
        -4.013511657714844,
        2.0825281143188477,
        2.0191619396209717,
        0.8962475061416626,
        0.44956666231155396
      ],
      "elapsed_seconds": 6.133498391136527e-05
    },
    {
      "call": 241,
      "physics_step": 964,
      "sim_time_s": 4.8199999999999195,
      "observation": [
        0.004111727699637413,
        0.012529194355010986,
        0.005289661698043346,
        -0.4194681644439697,
        -0.837179958820343,
        -0.3509646952152252,
        -0.26462510228157043,
        -0.045278262346982956,
        0.8560906052589417,
        -0.3218980133533478,
        -0.5807671546936035,
        0.7008802890777588,
        0.3262438178062439,
        -2.9768502712249756,
        0.44034716486930847,
        -0.5336296558380127,
        0.30537575483322144,
        1.1149526834487915,
        0.9110792875289917,
        0.9050635099411011,
        -0.003540504490956664,
        0.029453547671437263,
        -0.042344458401203156,
        0.008283554576337337,
        -0.002331863157451153,
        -8.94474214874208e-05,
        0.00961371511220932,
        2.8958187613170594e-05,
        -8.174347021849826e-05,
        1.7217653294210322e-05,
        7.48396196286194e-05,
        2.422068610030692e-05,
        0.001780860242433846,
        -0.0011933909263461828,
        -0.9292865991592407,
        -0.345562607049942,
        0.6006145477294922,
        -0.23706753551959991,
        -0.615722119808197,
        1.1960608959197998,
        0.34874576330184937,
        -4.719293594360352,
        1.1388989686965942,
        -4.013511657714844,
        1.9952280521392822,
        1.5612620115280151,
        0.8913475275039673,
        0.90256667137146,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.929530143737793,
        -0.34572097659111023,
        0.600994348526001,
        -0.23744109272956848,
        -0.6159681081771851,
        1.1964175701141357,
        0.3485337197780609,
        -4.71940803527832,
        1.1388468742370605,
        -4.013723850250244,
        1.9954707622528076,
        1.5613665580749512,
        0.8918800950050354,
        0.9027338027954102
      ],
      "target_rad": [
        -0.929530143737793,
        -0.4330209791660309,
        0.14309436082839966,
        -0.242341086268425,
        -0.16296809911727905,
        1.5455175638198853,
        0.6976337432861328,
        -4.71940803527832,
        1.1388468742370605,
        -4.013723850250244,
        2.082770824432373,
        2.0192666053771973,
        0.8967800736427307,
        0.44973379373550415
      ],
      "elapsed_seconds": 0.00015140196774154902
    },
    {
      "call": 242,
      "physics_step": 968,
      "sim_time_s": 4.839999999999919,
      "observation": [
        0.004056637175381184,
        0.012402393855154514,
        0.005238806363195181,
        -0.41946864128112793,
        -0.837164580821991,
        -0.35100075602531433,
        -0.2646964490413666,
        -0.04469241574406624,
        0.8552484512329102,
        -0.32173824310302734,
        -0.5808157324790955,
        0.7008785009384155,
        0.3264347314834595,
        -2.9768497943878174,
        0.44034549593925476,
        -0.533629298210144,
        0.3053773045539856,
        1.1149531602859497,
        0.9111173152923584,
        0.9050405621528625,
        -0.0035946990828961134,
        0.02926863171160221,
        -0.04198760166764259,
        0.007915389724075794,
        -0.0024582184851169586,
        -8.834008622216061e-05,
        0.009527364745736122,
        3.458020728430711e-05,
        -8.068729948718101e-05,
        1.929069730977062e-05,
        7.196550723165274e-05,
        2.514082007110119e-05,
        0.001931997132487595,
        -0.0011337926844134927,
        -0.929530143737793,
        -0.34572097659111023,
        0.600994348526001,
        -0.23744109272956848,
        -0.6159681081771851,
        1.1964175701141357,
        0.3485337197780609,
        -4.71940803527832,
        1.1388468742370605,
        -4.013723850250244,
        1.9954707622528076,
        1.5613665580749512,
        0.8918800950050354,
        0.9027338027954102,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9297738075256348,
        -0.345876008272171,
        0.6013664603233337,
        -0.2377997189760208,
        -0.6161980628967285,
        1.1967629194259644,
        0.3483208119869232,
        -4.719516754150391,
        1.138810396194458,
        -4.013936519622803,
        1.9957098960876465,
        1.5614677667617798,
        0.8923799991607666,
        0.9028940796852112
      ],
      "target_rad": [
        -0.9297738075256348,
        -0.4331760108470917,
        0.14346647262573242,
        -0.24269971251487732,
        -0.1631980538368225,
        1.5458629131317139,
        0.6974208354949951,
        -4.719516754150391,
        1.138810396194458,
        -4.013936519622803,
        2.083009958267212,
        2.0193676948547363,
        0.8972799777984619,
        0.4498940706253052
      ],
      "elapsed_seconds": 0.00014056096551939845
    },
    {
      "call": 243,
      "physics_step": 972,
      "sim_time_s": 4.859999999999919,
      "observation": [
        0.0039897277019917965,
        0.012285773642361164,
        0.005205069202929735,
        -0.41946929693222046,
        -0.8371490836143494,
        -0.3510368764400482,
        -0.2647693455219269,
        -0.04410923644900322,
        0.8544130921363831,
        -0.32158544659614563,
        -0.5808666944503784,
        0.700876772403717,
        0.32662370800971985,
        -2.976848840713501,
        0.44034385681152344,
        -0.5336288809776306,
        0.305378794670105,
        1.1149537563323975,
        0.9111582040786743,
        0.9050187468528748,
        -0.0036814259365200996,
        0.02915826067328453,
        -0.041649430990219116,
        0.007577127311378717,
        -0.002576407277956605,
        -8.750146662350744e-05,
        0.009422794915735722,
        3.851375004160218e-05,
        -7.85235533840023e-05,
        2.0112929632887244e-05,
        6.971640686970204e-05,
        2.5329829441034235e-05,
        0.0020714784041047096,
        -0.0010769241489470005,
        -0.9297738075256348,
        -0.345876008272171,
        0.6013664603233337,
        -0.2377997189760208,
        -0.6161980628967285,
        1.1967629194259644,
        0.3483208119869232,
        -4.719516754150391,
        1.138810396194458,
        -4.013936519622803,
        1.9957098960876465,
        1.5614677667617798,
        0.8923799991607666,
        0.9028940796852112,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9300144910812378,
        -0.3460288941860199,
        0.6017327308654785,
        -0.23814673721790314,
        -0.6164199113845825,
        1.1970998048782349,
        0.3481080234050751,
        -4.719620227813721,
        1.1387816667556763,
        -4.014147758483887,
        1.9959428310394287,
        1.5615653991699219,
        0.8928658366203308,
        0.9030503034591675
      ],
      "target_rad": [
        -0.9300144910812378,
        -0.43332889676094055,
        0.1438327431678772,
        -0.24304673075675964,
        -0.1634199023246765,
        1.5461997985839844,
        0.697208046913147,
        -4.719620227813721,
        1.1387816667556763,
        -4.014147758483887,
        2.083242893218994,
        2.019465446472168,
        0.8977658152580261,
        0.4500502943992615
      ],
      "elapsed_seconds": 5.715398583561182e-05
    },
    {
      "call": 244,
      "physics_step": 976,
      "sim_time_s": 4.879999999999918,
      "observation": [
        0.0039205304346978664,
        0.012181081809103489,
        0.005177603103220463,
        -0.4194702208042145,
        -0.8371334075927734,
        -0.3510732650756836,
        -0.2648441791534424,
        -0.043527815490961075,
        0.8535844683647156,
        -0.3214387893676758,
        -0.5809199213981628,
        0.7008750438690186,
        0.3268103003501892,
        -2.9768481254577637,
        0.4403422772884369,
        -0.5336284637451172,
        0.3053802251815796,
        1.1149542331695557,
        0.9112017750740051,
        0.9049980640411377,
        -0.003781897947192192,
        0.02907874621450901,
        -0.04131446033716202,
        0.007283358834683895,
        -0.0026896304916590452,
        -8.68858041940257e-05,
        0.009299156256020069,
        4.091125447303057e-05,
        -7.631762127857655e-05,
        2.011277865676675e-05,
        6.776869850000367e-05,
        2.510486956452951e-05,
        0.002205265685915947,
        -0.001021797303110361,
        -0.9300144910812378,
        -0.3460288941860199,
        0.6017327308654785,
        -0.23814673721790314,
        -0.6164199113845825,
        1.1970998048782349,
        0.3481080234050751,
        -4.719620227813721,
        1.1387816667556763,
        -4.014147758483887,
        1.9959428310394287,
        1.5615653991699219,
        0.8928658366203308,
        0.9030503034591675,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9302530884742737,
        -0.3461807072162628,
        0.602096438407898,
        -0.23848676681518555,
        -0.616638720035553,
        1.1974326372146606,
        0.3478943109512329,
        -4.7197184562683105,
        1.1387550830841064,
        -4.014359474182129,
        1.99617338180542,
        1.5616611242294312,
        0.89334636926651,
        0.9032055735588074
      ],
      "target_rad": [
        -0.9302530884742737,
        -0.43348070979118347,
        0.14419645071029663,
        -0.24338676035404205,
        -0.16363871097564697,
        1.5465326309204102,
        0.6969943046569824,
        -4.7197184562683105,
        1.1387550830841064,
        -4.014359474182129,
        2.0834734439849854,
        2.0195610523223877,
        0.8982463479042053,
        0.45020556449890137
      ],
      "elapsed_seconds": 5.308398976922035e-05
    },
    {
      "call": 245,
      "physics_step": 980,
      "sim_time_s": 4.899999999999918,
      "observation": [
        0.0038569390308111906,
        0.01209460012614727,
        0.005148021969944239,
        -0.4194713532924652,
        -0.8371174335479736,
        -0.35110995173454285,
        -0.26492100954055786,
        -0.042948007583618164,
        0.8527626991271973,
        -0.32129764556884766,
        -0.5809767246246338,
        0.7008733749389648,
        0.3269941210746765,
        -2.9768471717834473,
        0.44034072756767273,
        -0.5336280465126038,
        0.3053816556930542,
        1.1149548292160034,
        0.911247968673706,
        0.9049784541130066,
        -0.0038805752992630005,
        0.028991250321269035,
        -0.04096754640340805,
        0.007012892048805952,
        -0.0029537826776504517,
        -8.563191659050062e-05,
        0.00914893951267004,
        4.186936712358147e-05,
        -7.465943053830415e-05,
        1.9441498807282187e-05,
        6.6342247009743e-05,
        2.4702370865270495e-05,
        0.0023363418877124786,
        -0.000967435771599412,
        -0.9302530884742737,
        -0.3461807072162628,
        0.602096438407898,
        -0.23848676681518555,
        -0.616638720035553,
        1.1974326372146606,
        0.3478943109512329,
        -4.7197184562683105,
        1.1387550830841064,
        -4.014359474182129,
        1.99617338180542,
        1.5616611242294312,
        0.89334636926651,
        0.9032055735588074,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9304879307746887,
        -0.3463313579559326,
        0.6024587154388428,
        -0.2388211041688919,
        -0.6168537735939026,
        1.1977611780166626,
        0.3476804792881012,
        -4.719817638397217,
        1.1387302875518799,
        -4.014573097229004,
        1.9964020252227783,
        1.5617573261260986,
        0.8938246965408325,
        0.9033588171005249
      ],
      "target_rad": [
        -0.9304879307746887,
        -0.43363136053085327,
        0.14455872774124146,
        -0.2437210977077484,
        -0.16385376453399658,
        1.546861171722412,
        0.6967804431915283,
        -4.719817638397217,
        1.1387302875518799,
        -4.014573097229004,
        2.0837020874023438,
        2.0196573734283447,
        0.8987246751785278,
        0.4503588080406189
      ],
      "elapsed_seconds": 5.139398854225874e-05
    },
    {
      "call": 246,
      "physics_step": 984,
      "sim_time_s": 4.919999999999917,
      "observation": [
        0.003839121200144291,
        0.01208312064409256,
        0.005081625189632177,
        -0.419471800327301,
        -0.8371016979217529,
        -0.3511469066143036,
        -0.2649993896484375,
        -0.042371317744255066,
        0.8519487380981445,
        -0.32116350531578064,
        -0.581055760383606,
        0.7008717656135559,
        0.3271735608577728,
        -2.97684645652771,
        0.44033920764923096,
        -0.5336276888847351,
        0.3053830564022064,
        1.1149553060531616,
        0.9112967848777771,
        0.9049599170684814,
        -0.003946032840758562,
        0.028792481869459152,
        -0.0405544675886631,
        0.006617577280849218,
        -0.004462743178009987,
        -8.028689626371488e-05,
        0.0088926637545228,
        3.784045111387968e-05,
        -7.383339834632352e-05,
        1.68414662766736e-05,
        6.600981578230858e-05,
        2.431827124382835e-05,
        0.0024658571928739548,
        -0.000914032687433064,
        -0.9304879307746887,
        -0.3463313579559326,
        0.6024587154388428,
        -0.2388211041688919,
        -0.6168537735939026,
        1.1977611780166626,
        0.3476804792881012,
        -4.719817638397217,
        1.1387302875518799,
        -4.014573097229004,
        1.9964020252227783,
        1.5617573261260986,
        0.8938246965408325,
        0.9033588171005249,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9307007193565369,
        -0.3464670777320862,
        0.6028231382369995,
        -0.23913469910621643,
        -0.6170513033866882,
        1.198074221611023,
        0.34746283292770386,
        -4.719893455505371,
        1.138705849647522,
        -4.014773368835449,
        1.99661123752594,
        1.5618512630462646,
        0.894295871257782,
        0.9034995436668396
      ],
      "target_rad": [
        -0.9307007193565369,
        -0.43376708030700684,
        0.1449231505393982,
        -0.24403469264507294,
        -0.16405129432678223,
        1.5471742153167725,
        0.6965628266334534,
        -4.719893455505371,
        1.138705849647522,
        -4.014773368835449,
        2.083911180496216,
        2.0197513103485107,
        0.8991958498954773,
        0.4504995346069336
      ],
      "elapsed_seconds": 0.00010577903594821692
    },
    {
      "call": 247,
      "physics_step": 988,
      "sim_time_s": 4.939999999999917,
      "observation": [
        0.00379241188056767,
        0.012103724293410778,
        0.005052130203694105,
        -0.41947123408317566,
        -0.8370862603187561,
        -0.3511843979358673,
        -0.26507875323295593,
        -0.04179961234331131,
        0.8511435389518738,
        -0.3210374414920807,
        -0.5811717510223389,
        0.7008702158927917,
        0.32734689116477966,
        -2.9768457412719727,
        0.4403376877307892,
        -0.5336273908615112,
        0.30538442730903625,
        1.1149557828903198,
        0.9113481640815735,
        0.9049423933029175,
        -0.003985703457146883,
        0.028516000136733055,
        -0.04010617360472679,
        0.006207945290952921,
        -0.0064568533562123775,
        -7.70174156059511e-05,
        0.008567992597818375,
        3.2779738830868155e-05,
        -7.357686990872025e-05,
        1.3798915460938588e-05,
        6.496129935840145e-05,
        2.4099243091768585e-05,
        0.0025923920329660177,
        -0.0008644407498650253,
        -0.9307007193565369,
        -0.3464670777320862,
        0.6028231382369995,
        -0.23913469910621643,
        -0.6170513033866882,
        1.198074221611023,
        0.34746283292770386,
        -4.719893455505371,
        1.138705849647522,
        -4.014773368835449,
        1.99661123752594,
        1.5618512630462646,
        0.894295871257782,
        0.9034995436668396,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9308986067771912,
        -0.34658724069595337,
        0.603187620639801,
        -0.23943650722503662,
        -0.6172322630882263,
        1.1983743906021118,
        0.3472396433353424,
        -4.719954013824463,
        1.1386858224868774,
        -4.0149617195129395,
        1.9968078136444092,
        1.5619474649429321,
        0.8947559595108032,
        0.9036323428153992
      ],
      "target_rad": [
        -0.9308986067771912,
        -0.433887243270874,
        0.1452876329421997,
        -0.24433650076389313,
        -0.1642322540283203,
        1.5474743843078613,
        0.6963396072387695,
        -4.719954013824463,
        1.1386858224868774,
        -4.0149617195129395,
        2.0841078758239746,
        2.0198473930358887,
        0.8996559381484985,
        0.45063233375549316
      ],
      "elapsed_seconds": 0.00015471200458705425
    },
    {
      "call": 248,
      "physics_step": 992,
      "sim_time_s": 4.9599999999999165,
      "observation": [
        0.0037977357860654593,
        0.012140963226556778,
        0.004964154213666916,
        -0.4194696247577667,
        -0.8370710611343384,
        -0.35122260451316833,
        -0.26515868306159973,
        -0.04123368486762047,
        0.8503475189208984,
        -0.32091909646987915,
        -0.5813282132148743,
        0.7008687257766724,
        0.32751330733299255,
        -2.9768450260162354,
        0.4403361678123474,
        -0.5336271524429321,
        0.3053857684135437,
        1.114956259727478,
        0.9114093780517578,
        0.9049258232116699,
        -0.0040092370472848415,
        0.028219327330589294,
        -0.039642445743083954,
        0.005840642377734184,
        -0.008469624444842339,
        -7.543001265730709e-05,
        0.008213850669562817,
        3.146015296806581e-05,
        -7.36725123715587e-05,
        1.1011453352693934e-05,
        6.332450720947236e-05,
        2.29428169404855e-05,
        0.0032615133095532656,
        -0.0008178111165761948,
        -0.9308986067771912,
        -0.34658724069595337,
        0.603187620639801,
        -0.23943650722503662,
        -0.6172322630882263,
        1.1983743906021118,
        0.3472396433353424,
        -4.719954013824463,
        1.1386858224868774,
        -4.0149617195129395,
        1.9968078136444092,
        1.5619474649429321,
        0.8947559595108032,
        0.9036323428153992,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9310715794563293,
        -0.34669771790504456,
        0.6035614013671875,
        -0.23972752690315247,
        -0.6174135208129883,
        1.198656439781189,
        0.34701380133628845,
        -4.719977378845215,
        1.1386640071868896,
        -4.015117645263672,
        1.9969801902770996,
        1.5620372295379639,
        0.895226001739502,
        0.9037570357322693
      ],
      "target_rad": [
        -0.9310715794563293,
        -0.4339977204799652,
        0.14566141366958618,
        -0.24462752044200897,
        -0.16441351175308228,
        1.5477564334869385,
        0.6961138248443604,
        -4.719977378845215,
        1.1386640071868896,
        -4.015117645263672,
        2.084280252456665,
        2.01993727684021,
        0.9001259803771973,
        0.4507570266723633
      ],
      "elapsed_seconds": 7.051602005958557e-05
    },
    {
      "call": 249,
      "physics_step": 996,
      "sim_time_s": 4.979999999999916,
      "observation": [
        0.0042540403082966805,
        0.012356439605355263,
        0.004458100069314241,
        -0.4194610118865967,
        -0.8370608687400818,
        -0.3512570858001709,
        -0.26524293422698975,
        -0.04066424071788788,
        0.8495592474937439,
        -0.3208056688308716,
        -0.5815287828445435,
        0.7008673548698425,
        0.3276711404323578,
        -2.976844549179077,
        0.44033464789390564,
        -0.5336269736289978,
        0.30538704991340637,
        1.1149567365646362,
        0.9115031361579895,
        0.904910147190094,
        -0.004413228016346693,
        0.028822436928749084,
        -0.03933903947472572,
        0.0056753987446427345,
        -0.010868013836443424,
        -6.58188946545124e-05,
        0.0077128964476287365,
        1.8573107809061185e-05,
        -7.397216540994123e-05,
        4.770412942889379e-06,
        6.076574572944082e-05,
        1.9630298993433826e-05,
        0.00534853944554925,
        -0.0007741370936855674,
        -0.9310715794563293,
        -0.34669771790504456,
        0.6035614013671875,
        -0.23972752690315247,
        -0.6174135208129883,
        1.198656439781189,
        0.34701380133628845,
        -4.719977378845215,
        1.1386640071868896,
        -4.015117645263672,
        1.9969801902770996,
        1.5620372295379639,
        0.895226001739502,
        0.9037570357322693,
        0.30000001192092896,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9311636090278625,
        -0.3468138575553894,
        0.6040107607841492,
        -0.2399856597185135,
        -0.6176729798316956,
        1.1988976001739502,
        0.3467746376991272,
        -4.7198357582092285,
        1.1386115550994873,
        -4.0151262283325195,
        1.9970654249191284,
        1.5620954036712646,
        0.8957718014717102,
        0.9038658738136292
      ],
      "target_rad": [
        -0.9311636090278625,
        -0.43411386013031006,
        0.14611077308654785,
        -0.24488565325737,
        -0.16467297077178955,
        1.5479975938796997,
        0.6958746314048767,
        -4.7198357582092285,
        1.1386115550994873,
        -4.0151262283325195,
        2.0843653678894043,
        2.0199954509735107,
        0.9006717801094055,
        0.45086586475372314
      ],
      "elapsed_seconds": 9.682803647592664e-05
    },
    {
      "call": 250,
      "physics_step": 1000,
      "sim_time_s": 4.999999999999916,
      "observation": [
        0.004010296426713467,
        0.012421692721545696,
        0.004629130475223064,
        -0.41944995522499084,
        -0.8370516300201416,
        -0.35129234194755554,
        -0.26533281803131104,
        -0.040089547634124756,
        0.8487787842750549,
        -0.32069507241249084,
        -0.5817772150039673,
        0.7008659839630127,
        0.32781869173049927,
        -2.976844072341919,
        0.44033312797546387,
        -0.5336269736289978,
        0.3053882420063019,
        1.1149570941925049,
        0.911651611328125,
        0.9048952460289001,
        -0.004503926262259483,
        0.02865678258240223,
        -0.03884970769286156,
        0.00551426038146019,
        -0.013064093887805939,
        -7.331601955229416e-05,
        0.007243424654006958,
        2.4171991753973998e-05,
        -7.53001804696396e-05,
        2.443703351673321e-06,
        5.434088598121889e-05,
        1.7379206838086247e-05,
        0.008379881270229816,
        -0.0007349277730099857,
        -0.9311636090278625,
        -0.3468138575553894,
        0.6040107607841492,
        -0.2399856597185135,
        -0.6176729798316956,
        1.1988976001739502,
        0.3467746376991272,
        -4.7198357582092285,
        1.1386115550994873,
        -4.0151262283325195,
        1.9970654249191284,
        1.5620954036712646,
        0.8957718014717102,
        0.9038658738136292,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9621246457099915,
        -0.3651866018772125,
        0.6323304772377014,
        -0.2901778221130371,
        -0.6553390622138977,
        1.2387986183166504,
        0.3351295292377472,
        -4.5931620597839355,
        1.1415098905563354,
        -3.937615394592285,
        1.9876892566680908,
        1.516053557395935,
        0.9884946346282959,
        0.9185190796852112
      ],
      "target_rad": [
        -0.9621246457099915,
        -0.4524866044521332,
        0.1744304895401001,
        -0.2950778305530548,
        -0.2023390531539917,
        1.5878986120224,
        0.6842294931411743,
        -4.5931620597839355,
        1.1415098905563354,
        -3.937615394592285,
        2.0749893188476562,
        1.9739534854888916,
        0.9933946132659912,
        0.4655190706253052
      ],
      "elapsed_seconds": 5.9674959629774094e-05
    },
    {
      "call": 251,
      "physics_step": 1004,
      "sim_time_s": 5.019999999999915,
      "observation": [
        0.007837703451514244,
        0.00753681780770421,
        -0.010677929036319256,
        -0.4192711412906647,
        -0.837157666683197,
        -0.3512531518936157,
        -0.26540735363960266,
        -0.03992122411727905,
        0.8481305837631226,
        -0.3216792345046997,
        -0.5843594670295715,
        0.7008985877037048,
        0.32791900634765625,
        -2.97662615776062,
        0.4403270184993744,
        -0.5336278080940247,
        0.30538293719291687,
        1.1148823499679565,
        0.9169747233390808,
        0.9051454067230225,
        -0.0029252227395772934,
        0.0028926869854331017,
        -0.031441580504179,
        -0.07316718250513077,
        -0.1853940635919571,
        0.0018842644058167934,
        0.0034433729015290737,
        0.01261900644749403,
        -0.0003772558120545,
        -2.3728437099634903e-06,
        -0.00033730437280610204,
        -0.004234348889440298,
        0.3928821086883545,
        0.01863093301653862,
        -0.9621246457099915,
        -0.3651866018772125,
        0.6323304772377014,
        -0.2901778221130371,
        -0.6553390622138977,
        1.2387986183166504,
        0.3351295292377472,
        -4.5931620597839355,
        1.1415098905563354,
        -3.937615394592285,
        1.9876892566680908,
        1.516053557395935,
        0.9884946346282959,
        0.9185190796852112,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9548777937889099,
        -0.3609296977519989,
        0.643521249294281,
        -0.2940834164619446,
        -0.6611664891242981,
        1.2496671676635742,
        0.3334518373012543,
        -4.564061641693115,
        1.1330087184906006,
        -3.9208688735961914,
        1.9842238426208496,
        1.5334911346435547,
        0.9935303926467896,
        0.9172519445419312
      ],
      "target_rad": [
        -0.9548777937889099,
        -0.44822970032691956,
        0.1856212615966797,
        -0.2989834249019623,
        -0.2081664800643921,
        1.5987671613693237,
        0.6825518608093262,
        -4.564061641693115,
        1.1330087184906006,
        -3.9208688735961914,
        2.071523904800415,
        1.9913911819458008,
        0.9984303712844849,
        0.46425193548202515
      ],
      "elapsed_seconds": 7.012503920122981e-05
    },
    {
      "call": 252,
      "physics_step": 1008,
      "sim_time_s": 5.039999999999915,
      "observation": [
        0.013808289542794228,
        0.008627234026789665,
        -0.01725030690431595,
        -0.41894033551216125,
        -0.8373817205429077,
        -0.3511136770248413,
        -0.26543548703193665,
        -0.039907537400722504,
        0.8475593328475952,
        -0.3236500322818756,
        -0.5895357728004456,
        0.7009431719779968,
        0.32796165347099304,
        -2.976367950439453,
        0.44030824303627014,
        -0.5336259603500366,
        0.3053726851940155,
        1.1148353815078735,
        0.9278146624565125,
        0.9055556654930115,
        -0.0009629806154407561,
        1.900107781693805e-05,
        -0.027990536764264107,
        -0.10907363891601562,
        -0.29191723465919495,
        0.002149944193661213,
        0.001701475353911519,
        0.011515148915350437,
        -0.0009941690368577838,
        0.0001382978371111676,
        -0.0005280351033434272,
        -0.0015874914824962616,
        0.6103673577308655,
        0.020913315936923027,
        -0.9548777937889099,
        -0.3609296977519989,
        0.643521249294281,
        -0.2940834164619446,
        -0.6611664891242981,
        1.2496671676635742,
        0.3334518373012543,
        -4.564061641693115,
        1.1330087184906006,
        -3.9208688735961914,
        1.9842238426208496,
        1.5334911346435547,
        0.9935303926467896,
        0.9172519445419312,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9498090744018555,
        -0.35945019125938416,
        0.6451891660690308,
        -0.2966972589492798,
        -0.6662273406982422,
        1.245558738708496,
        0.33422183990478516,
        -4.548952579498291,
        1.126967430114746,
        -3.902080535888672,
        1.9756394624710083,
        1.5335991382598877,
        0.9919115304946899,
        0.9119538068771362
      ],
      "target_rad": [
        -0.9498090744018555,
        -0.4467501938343048,
        0.18728917837142944,
        -0.3015972673892975,
        -0.21322733163833618,
        1.5946587324142456,
        0.6833218336105347,
        -4.548952579498291,
        1.126967430114746,
        -3.902080535888672,
        2.062939405441284,
        1.9914991855621338,
        0.9968115091323853,
        0.4589537978172302
      ],
      "elapsed_seconds": 0.0001308299833908677
    },
    {
      "call": 253,
      "physics_step": 1012,
      "sim_time_s": 5.059999999999914,
      "observation": [
        0.014731820672750473,
        0.009822112508118153,
        -0.015655893832445145,
        -0.4185996353626251,
        -0.8376209735870361,
        -0.35094937682151794,
        -0.26544174551963806,
        -0.03991420194506645,
        0.847004771232605,
        -0.32608500123023987,
        -0.5961971282958984,
        0.7009751796722412,
        0.32799065113067627,
        -2.9761769771575928,
        0.4402845501899719,
        -0.5336225032806396,
        0.30535268783569336,
        1.1148172616958618,
        0.9410920739173889,
        0.9057128429412842,
        -0.00016056415915954858,
        -0.0004438229079823941,
        -0.02769751287996769,
        -0.12608392536640167,
        -0.3493044674396515,
        0.0013455472653731704,
        0.0013309589121490717,
        0.007963376119732857,
        -0.00113223260268569,
        0.0001756468991516158,
        -0.0010646299924701452,
        -0.0006106813671067357,
        0.6826668977737427,
        0.0037969578988850117,
        -0.9498090744018555,
        -0.35945019125938416,
        0.6451891660690308,
        -0.2966972589492798,
        -0.6662273406982422,
        1.245558738708496,
        0.33422183990478516,
        -4.548952579498291,
        1.126967430114746,
        -3.902080535888672,
        1.9756394624710083,
        1.5335991382598877,
        0.9919115304946899,
        0.9119538068771362,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9445781707763672,
        -0.35594767332077026,
        0.6467512845993042,
        -0.2987096309661865,
        -0.6688764691352844,
        1.243544340133667,
        0.3322423994541168,
        -4.537184715270996,
        1.1241447925567627,
        -3.887836217880249,
        1.969277024269104,
        1.5338228940963745,
        0.9868699908256531,
        0.906886875629425
      ],
      "target_rad": [
        -0.9445781707763672,
        -0.4432476758956909,
        0.18885129690170288,
        -0.3036096394062042,
        -0.21587646007537842,
        1.5926443338394165,
        0.681342363357544,
        -4.537184715270996,
        1.1241447925567627,
        -3.887836217880249,
        2.05657696723938,
        1.991722822189331,
        0.9917699694633484,
        0.45388686656951904
      ],
      "elapsed_seconds": 6.385502638295293e-05
    },
    {
      "call": 254,
      "physics_step": 1016,
      "sim_time_s": 5.079999999999914,
      "observation": [
        0.014381063170731068,
        0.010605406947433949,
        -0.013468379154801369,
        -0.4182882606983185,
        -0.8378418684005737,
        -0.35079333186149597,
        -0.26543712615966797,
        -0.03991714492440224,
        0.8464539051055908,
        -0.32867568731307983,
        -0.6034529805183411,
        0.7009932994842529,
        0.3280078172683716,
        -2.976046085357666,
        0.44026249647140503,
        -0.5336191654205322,
        0.3053259551525116,
        1.114811658859253,
        0.9544106125831604,
        0.9057340621948242,
        0.00027356704231351614,
        -7.428503158735111e-05,
        -0.027428848668932915,
        -0.1293707937002182,
        -0.3649901747703552,
        0.0007111208979040384,
        0.0007236633682623506,
        0.005465311463922262,
        -0.001007333630695939,
        0.00015064598119352013,
        -0.0013242122950032353,
        -0.00014520311378873885,
        0.6492117643356323,
        0.0003043066244572401,
        -0.9445781707763672,
        -0.35594767332077026,
        0.6467512845993042,
        -0.2987096309661865,
        -0.6688764691352844,
        1.243544340133667,
        0.3322423994541168,
        -4.537184715270996,
        1.1241447925567627,
        -3.887836217880249,
        1.969277024269104,
        1.5338228940963745,
        0.9868699908256531,
        0.906886875629425,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9412792921066284,
        -0.3538067936897278,
        0.6462120413780212,
        -0.3014618456363678,
        -0.6711889505386353,
        1.2427337169647217,
        0.33071815967559814,
        -4.531298637390137,
        1.122139811515808,
        -3.8789026737213135,
        1.966294765472412,
        1.5347068309783936,
        0.9829526543617249,
        0.9041693210601807
      ],
      "target_rad": [
        -0.9412792921066284,
        -0.44110679626464844,
        0.18831205368041992,
        -0.3063618540763855,
        -0.21818894147872925,
        1.5918337106704712,
        0.6798181533813477,
        -4.531298637390137,
        1.122139811515808,
        -3.8789026737213135,
        2.0535948276519775,
        1.9926068782806396,
        0.9878526329994202,
        0.45116931200027466
      ],
      "elapsed_seconds": 7.710600038990378e-05
    },
    {
      "call": 255,
      "physics_step": 1020,
      "sim_time_s": 5.0999999999999135,
      "observation": [
        0.013858254998922348,
        0.010798970237374306,
        -0.011815176345407963,
        -0.4180048704147339,
        -0.8380441665649414,
        -0.35064786672592163,
        -0.26542842388153076,
        -0.03991212323307991,
        0.8458887934684753,
        -0.3312699496746063,
        -0.6106783747673035,
        0.7010015249252319,
        0.32801687717437744,
        -2.9759585857391357,
        0.4402434527873993,
        -0.5336164832115173,
        0.30529966950416565,
        1.1148124933242798,
        0.9663090109825134,
        0.9057220816612244,
        0.0004102065577171743,
        0.0003482800384517759,
        -0.028451265767216682,
        -0.12792851030826569,
        -0.35505741834640503,
        0.0002762226795312017,
        0.00041274548857472837,
        0.003631873521953821,
        -0.0008686056826263666,
        0.00011660256859613582,
        -0.0012264905963093042,
        8.783013618085533e-05,
        0.560111939907074,
        -0.0008515010704286397,
        -0.9412792921066284,
        -0.3538067936897278,
        0.6462120413780212,
        -0.3014618456363678,
        -0.6711889505386353,
        1.2427337169647217,
        0.33071815967559814,
        -4.531298637390137,
        1.122139811515808,
        -3.8789026737213135,
        1.966294765472412,
        1.5347068309783936,
        0.9829526543617249,
        0.9041693210601807,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9396463632583618,
        -0.35285404324531555,
        0.6443509459495544,
        -0.30494746565818787,
        -0.6732316613197327,
        1.242674469947815,
        0.33026206493377686,
        -4.529822826385498,
        1.1205639839172363,
        -3.873425006866455,
        1.9655190706253052,
        1.536046028137207,
        0.9803639054298401,
        0.9031940698623657
      ],
      "target_rad": [
        -0.9396463632583618,
        -0.4401540458202362,
        0.18645095825195312,
        -0.30984747409820557,
        -0.22023165225982666,
        1.5917744636535645,
        0.6793620586395264,
        -4.529822826385498,
        1.1205639839172363,
        -3.873425006866455,
        2.052819013595581,
        1.9939460754394531,
        0.9852638840675354,
        0.4501940608024597
      ],
      "elapsed_seconds": 7.007503882050514e-05
    },
    {
      "call": 256,
      "physics_step": 1024,
      "sim_time_s": 5.119999999999913,
      "observation": [
        0.025503765791654587,
        -0.030655091628432274,
        -0.010909953154623508,
        -0.41803279519081116,
        -0.8383068442344666,
        -0.34998607635498047,
        -0.2654646635055542,
        -0.03993881493806839,
        0.8453536629676819,
        -0.3344844579696655,
        -0.617310643196106,
        0.7009311318397522,
        0.32877084612846375,
        -2.9758989810943604,
        0.4402318596839905,
        -0.5336046814918518,
        0.3053029477596283,
        1.1150200366973877,
        0.9720480442047119,
        0.9063431620597839,
        -0.0022082508075982332,
        -0.0015458674170076847,
        -0.028501758351922035,
        -0.16657517850399017,
        -0.31880083680152893,
        -0.0030937911942601204,
        0.0457114577293396,
        0.0024462491273880005,
        -0.00037070069811306894,
        0.00040140069904737175,
        0.0007956266636028886,
        0.00959728192538023,
        0.1735108643770218,
        0.0367031954228878,
        -0.9396463632583618,
        -0.35285404324531555,
        0.6443509459495544,
        -0.30494746565818787,
        -0.6732316613197327,
        1.242674469947815,
        0.33026206493377686,
        -4.529822826385498,
        1.1205639839172363,
        -3.873425006866455,
        1.9655190706253052,
        1.536046028137207,
        0.9803639054298401,
        0.9031940698623657,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9449414014816284,
        -0.3557596802711487,
        0.6399247050285339,
        -0.30853796005249023,
        -0.6715871095657349,
        1.2528380155563354,
        0.331348180770874,
        -4.547807216644287,
        1.1243870258331299,
        -3.8947277069091797,
        1.9802488088607788,
        1.5437129735946655,
        0.9818752408027649,
        0.9132750034332275
      ],
      "target_rad": [
        -0.9449414014816284,
        -0.44305968284606934,
        0.18202471733093262,
        -0.31343796849250793,
        -0.21858710050582886,
        1.601938009262085,
        0.6804481744766235,
        -4.547807216644287,
        1.1243870258331299,
        -3.8947277069091797,
        2.0675487518310547,
        2.001612901687622,
        0.9867752194404602,
        0.46027499437332153
      ],
      "elapsed_seconds": 9.647698607295752e-05
    },
    {
      "call": 257,
      "physics_step": 1028,
      "sim_time_s": 5.139999999999913,
      "observation": [
        0.0185646153986454,
        -0.015789179131388664,
        -0.013276870362460613,
        -0.4179709851741791,
        -0.8385609984397888,
        -0.34945058822631836,
        -0.2655106484889984,
        -0.03996163606643677,
        0.8446714878082275,
        -0.337737500667572,
        -0.623180627822876,
        0.7009112238883972,
        0.329647421836853,
        -2.9758849143981934,
        0.44023239612579346,
        -0.5336055159568787,
        0.3053416609764099,
        1.1151223182678223,
        0.9737814664840698,
        0.9074265956878662,
        -0.0021344574633985758,
        -0.0008555984823033214,
        -0.035921286791563034,
        -0.1566636711359024,
        -0.27784955501556396,
        -0.00020304530335124582,
        0.04081377759575844,
        0.00015289940347429365,
        9.982518531614915e-05,
        -0.0002497844980098307,
        0.0020971596240997314,
        0.002812709892168641,
        0.051083363592624664,
        0.059131063520908356,
        -0.9449414014816284,
        -0.3557596802711487,
        0.6399247050285339,
        -0.30853796005249023,
        -0.6715871095657349,
        1.2528380155563354,
        0.331348180770874,
        -4.547807216644287,
        1.1243870258331299,
        -3.8947277069091797,
        1.9802488088607788,
        1.5437129735946655,
        0.9818752408027649,
        0.9132750034332275,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9453073740005493,
        -0.3577202260494232,
        0.6340025067329407,
        -0.310780793428421,
        -0.671516478061676,
        1.2490795850753784,
        0.3364803194999695,
        -4.553829669952393,
        1.123991847038269,
        -3.891634702682495,
        1.9797471761703491,
        1.543316125869751,
        0.9822314381599426,
        0.9135912656784058
      ],
      "target_rad": [
        -0.9453073740005493,
        -0.44502022862434387,
        0.17610251903533936,
        -0.3156808018684387,
        -0.21851646900177002,
        1.598179578781128,
        0.685580313205719,
        -4.553829669952393,
        1.123991847038269,
        -3.891634702682495,
        2.067047119140625,
        2.001216173171997,
        0.9871314167976379,
        0.46059125661849976
      ],
      "elapsed_seconds": 0.00013637100346386433
    },
    {
      "call": 258,
      "physics_step": 1032,
      "sim_time_s": 5.159999999999912,
      "observation": [
        0.013606482185423374,
        -0.010043242014944553,
        -0.01328947115689516,
        -0.41782695055007935,
        -0.83878093957901,
        -0.3490947484970093,
        -0.265542209148407,
        -0.03997131809592247,
        0.8438944220542908,
        -0.3407313823699951,
        -0.6281826496124268,
        0.7009159922599792,
        0.33046579360961914,
        -2.975893497467041,
        0.44023600220680237,
        -0.5336115956306458,
        0.3053743541240692,
        1.1151381731033325,
        0.9742982983589172,
        0.9085832834243774,
        -0.0012423904845491052,
        -0.0002421098033664748,
        -0.0394122377038002,
        -0.1439993977546692,
        -0.23342213034629822,
        0.0003851665824186057,
        0.04029913991689682,
        -0.0005143076996318996,
        0.00017149781342595816,
        -0.00028818342252634466,
        0.001316760666668415,
        2.2468543647846673e-06,
        0.016167735680937767,
        0.05536415055394173,
        -0.9453073740005493,
        -0.3577202260494232,
        0.6340025067329407,
        -0.310780793428421,
        -0.671516478061676,
        1.2490795850753784,
        0.3364803194999695,
        -4.553829669952393,
        1.123991847038269,
        -3.891634702682495,
        1.9797471761703491,
        1.543316125869751,
        0.9822314381599426,
        0.9135912656784058,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9445306062698364,
        -0.35704827308654785,
        0.6321814060211182,
        -0.31092503666877747,
        -0.6702751517295837,
        1.2469732761383057,
        0.3379034399986267,
        -4.551514625549316,
        1.1250931024551392,
        -3.887706995010376,
        1.9779807329177856,
        1.543358325958252,
        0.9802854657173157,
        0.9128947854042053
      ],
      "target_rad": [
        -0.9445306062698364,
        -0.4443482756614685,
        0.17428141832351685,
        -0.31582504510879517,
        -0.21727514266967773,
        1.5960732698440552,
        0.6870034337043762,
        -4.551514625549316,
        1.1250931024551392,
        -3.887706995010376,
        2.0652806758880615,
        2.001258373260498,
        0.985185444355011,
        0.4598947763442993
      ],
      "elapsed_seconds": 6.505497731268406e-05
    },
    {
      "call": 259,
      "physics_step": 1036,
      "sim_time_s": 5.179999999999912,
      "observation": [
        0.010105361230671406,
        -0.00876777246594429,
        -0.011654880829155445,
        -0.41768309473991394,
        -0.8389626741409302,
        -0.3488301932811737,
        -0.26555493474006653,
        -0.039965298026800156,
        0.843106210231781,
        -0.3433944284915924,
        -0.632230818271637,
        0.7009230852127075,
        0.33126547932624817,
        -2.975898504257202,
        0.44024011492729187,
        -0.5336154103279114,
        0.30538830161094666,
        1.1151258945465088,
        0.9744449853897095,
        0.9094966650009155,
        -0.00031484084320254624,
        0.0005512981442734599,
        -0.03891866281628609,
        -0.1263459473848343,
        -0.18447543680667877,
        0.0003184708475600928,
        0.039671581238508224,
        -0.00010771537199616432,
        0.00018034971435554326,
        -0.0001229677436640486,
        0.0003962736518587917,
        -0.0008225026540458202,
        0.004323224537074566,
        0.03978513553738594,
        -0.9445306062698364,
        -0.35704827308654785,
        0.6321814060211182,
        -0.31092503666877747,
        -0.6702751517295837,
        1.2469732761383057,
        0.3379034399986267,
        -4.551514625549316,
        1.1250931024551392,
        -3.887706995010376,
        1.9779807329177856,
        1.543358325958252,
        0.9802854657173157,
        0.9128947854042053,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9440286755561829,
        -0.3565872311592102,
        0.6310967803001404,
        -0.31052127480506897,
        -0.6691538691520691,
        1.245450735092163,
        0.3384205102920532,
        -4.548914909362793,
        1.1263624429702759,
        -3.8854451179504395,
        1.9768285751342773,
        1.5433882474899292,
        0.9789672493934631,
        0.9128414988517761
      ],
      "target_rad": [
        -0.9440286755561829,
        -0.44388723373413086,
        0.17319679260253906,
        -0.31542128324508667,
        -0.21615386009216309,
        1.5945507287979126,
        0.6875205039978027,
        -4.548914909362793,
        1.1263624429702759,
        -3.8854451179504395,
        2.0641286373138428,
        2.0012881755828857,
        0.9838672280311584,
        0.4598414897918701
      ],
      "elapsed_seconds": 8.705700747668743e-05
    },
    {
      "call": 260,
      "physics_step": 1040,
      "sim_time_s": 5.199999999999911,
      "observation": [
        0.007812491152435541,
        -0.00945042259991169,
        -0.009600473567843437,
        -0.41757309436798096,
        -0.8391091823577881,
        -0.34860938787460327,
        -0.2655518352985382,
        -0.039946239441633224,
        0.8423499464988708,
        -0.34568676352500916,
        -0.6353058815002441,
        0.7009263038635254,
        0.3320581316947937,
        -2.9758942127227783,
        0.440244197845459,
        -0.5336157083511353,
        0.3053879737854004,
        1.1151081323623657,
        0.9745029807090759,
        0.9101049304008484,
        0.0004027770191896707,
        0.001140013337135315,
        -0.03697938844561577,
        -0.10777030140161514,
        -0.13652324676513672,
        9.506256901659071e-05,
        0.039546847343444824,
        0.0003347685269545764,
        0.00017848108836915344,
        4.674293450079858e-05,
        -0.00020328805840108544,
        -0.0008795429603196681,
        0.002578919753432274,
        0.025117531418800354,
        -0.9440286755561829,
        -0.3565872311592102,
        0.6310967803001404,
        -0.31052127480506897,
        -0.6691538691520691,
        1.245450735092163,
        0.3384205102920532,
        -4.548914909362793,
        1.1263624429702759,
        -3.8854451179504395,
        1.9768285751342773,
        1.5433882474899292,
        0.9789672493934631,
        0.9128414988517761,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9436737895011902,
        -0.3562832474708557,
        0.6304197311401367,
        -0.3101797103881836,
        -0.6683464050292969,
        1.2443212270736694,
        0.3387276530265808,
        -4.546868801116943,
        1.1274746656417847,
        -3.883835554122925,
        1.975979208946228,
        1.5433597564697266,
        0.9781885147094727,
        0.9129796624183655
      ],
      "target_rad": [
        -0.9436737895011902,
        -0.44358325004577637,
        0.1725197434425354,
        -0.3150797188282013,
        -0.21534639596939087,
        1.593421220779419,
        0.6878276467323303,
        -4.546868801116943,
        1.1274746656417847,
        -3.883835554122925,
        2.063279151916504,
        2.0012598037719727,
        0.983088493347168,
        0.4599796533584595
      ],
      "elapsed_seconds": 8.764700032770634e-05
    },
    {
      "call": 261,
      "physics_step": 1044,
      "sim_time_s": 5.219999999999911,
      "observation": [
        0.006117736920714378,
        -0.010270647704601288,
        -0.007657822221517563,
        -0.4175024926662445,
        -0.839225709438324,
        -0.348413348197937,
        -0.2655366063117981,
        -0.0399174727499485,
        0.8416372537612915,
        -0.34762123227119446,
        -0.6374914646148682,
        0.7009257674217224,
        0.3328476548194885,
        -2.9758832454681396,
        0.4402480125427246,
        -0.533613383769989,
        0.3053792119026184,
        1.1150916814804077,
        0.9745517373085022,
        0.9104604125022888,
        0.0009524120832793415,
        0.0015818614047020674,
        -0.034767258912324905,
        -0.09043877571821213,
        -0.0943279042840004,
        -7.20087336958386e-05,
        0.03934575244784355,
        0.0005953331128694117,
        0.0001664754090597853,
        0.00015416403766721487,
        -0.0005338357877917588,
        -0.0007715855608694255,
        0.0024471040815114975,
        0.013704783283174038,
        -0.9436737895011902,
        -0.3562832474708557,
        0.6304197311401367,
        -0.3101797103881836,
        -0.6683464050292969,
        1.2443212270736694,
        0.3387276530265808,
        -4.546868801116943,
        1.1274746656417847,
        -3.883835554122925,
        1.975979208946228,
        1.5433597564697266,
        0.9781885147094727,
        0.9129796624183655,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9434078931808472,
        -0.3560805916786194,
        0.6299189329147339,
        -0.3099439740180969,
        -0.66780024766922,
        1.243442177772522,
        0.3389778435230255,
        -4.545259952545166,
        1.1283575296401978,
        -3.8825228214263916,
        1.9753093719482422,
        1.5433025360107422,
        0.9776537418365479,
        0.9131324887275696
      ],
      "target_rad": [
        -0.9434078931808472,
        -0.44338059425354004,
        0.17201894521713257,
        -0.3148439824581146,
        -0.21480023860931396,
        1.5925421714782715,
        0.6880778074264526,
        -4.545259952545166,
        1.1283575296401978,
        -3.8825228214263916,
        2.0626094341278076,
        2.0012025833129883,
        0.9825537204742432,
        0.4601324796676636
      ],
      "elapsed_seconds": 0.00012291996972635388
    },
    {
      "call": 262,
      "physics_step": 1048,
      "sim_time_s": 5.2399999999999105,
      "observation": [
        0.0048006135039031506,
        -0.010830591432750225,
        -0.006034625694155693,
        -0.4174656569957733,
        -0.8393176198005676,
        -0.3482361137866974,
        -0.26551201939582825,
        -0.039881277829408646,
        0.8409678936004639,
        -0.3492372930049896,
        -0.6389313340187073,
        0.7009228467941284,
        0.33362939953804016,
        -2.9758694171905518,
        0.44025135040283203,
        -0.5336095094680786,
        0.3053661584854126,
        1.1150777339935303,
        0.9746008515357971,
        0.9106283783912659,
        0.001374071929603815,
        0.001921539893373847,
        -0.03266667574644089,
        -0.07539992034435272,
        -0.059947602450847626,
        -0.0001680850691627711,
        0.03884640336036682,
        0.0007072658045217395,
        0.00014132150681689382,
        0.00021061240113340318,
        -0.000692627567332238,
        -0.0006495927227661014,
        0.0024942460004240274,
        0.005504959262907505,
        -0.9434078931808472,
        -0.3560805916786194,
        0.6299189329147339,
        -0.3099439740180969,
        -0.66780024766922,
        1.243442177772522,
        0.3389778435230255,
        -4.545259952545166,
        1.1283575296401978,
        -3.8825228214263916,
        1.9753093719482422,
        1.5433025360107422,
        0.9776537418365479,
        0.9131324887275696,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9431912302970886,
        -0.3559221029281616,
        0.629546046257019,
        -0.3097613453865051,
        -0.6674199104309082,
        1.2427301406860352,
        0.33918505907058716,
        -4.543923377990723,
        1.1290674209594727,
        -3.881377696990967,
        1.9747350215911865,
        1.5432082414627075,
        0.9772037267684937,
        0.9132325053215027
      ],
      "target_rad": [
        -0.9431912302970886,
        -0.4432221055030823,
        0.17164605855941772,
        -0.3146613538265228,
        -0.2144199013710022,
        1.5918301343917847,
        0.6882850527763367,
        -4.543923377990723,
        1.1290674209594727,
        -3.881377696990967,
        2.062035083770752,
        2.001108169555664,
        0.982103705406189,
        0.4602324962615967
      ],
      "elapsed_seconds": 8.304702350869775e-05
    },
    {
      "call": 263,
      "physics_step": 1052,
      "sim_time_s": 5.25999999999991,
      "observation": [
        0.003705086652189493,
        -0.01093099545687437,
        -0.004753753077238798,
        -0.41745445132255554,
        -0.8393896222114563,
        -0.3480759859085083,
        -0.2654801905155182,
        -0.039839185774326324,
        0.8403381109237671,
        -0.3505822718143463,
        -0.6397852301597595,
        0.7009188532829285,
        0.3343944847583771,
        -2.9758546352386475,
        0.44025400280952454,
        -0.5336050391197205,
        0.30535125732421875,
        1.1150658130645752,
        0.9746516346931458,
        0.9106958508491516,
        0.0017070648027583957,
        0.002197123132646084,
        -0.03077837824821472,
        -0.06268266588449478,
        -0.0335451140999794,
        -0.00020369455160107464,
        0.037771593779325485,
        0.0007296539843082428,
        0.00010848099191207439,
        0.00023174815578386188,
        -0.0007575798081234097,
        -0.0005737720057368279,
        0.0026048622094094753,
        0.0027652999851852655,
        -0.9431912302970886,
        -0.3559221029281616,
        0.629546046257019,
        -0.3097613453865051,
        -0.6674199104309082,
        1.2427301406860352,
        0.33918505907058716,
        -4.543923377990723,
        1.1290674209594727,
        -3.881377696990967,
        1.9747350215911865,
        1.5432082414627075,
        0.9772037267684937,
        0.9132325053215027,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9429731369018555,
        -0.3557661175727844,
        0.6292790770530701,
        -0.30956828594207764,
        -0.6671377420425415,
        1.2421287298202515,
        0.33933526277542114,
        -4.542697906494141,
        1.1296577453613281,
        -3.8803210258483887,
        1.9741939306259155,
        1.543070673942566,
        0.9767658114433289,
        0.9132322669029236
      ],
      "target_rad": [
        -0.9429731369018555,
        -0.4430661201477051,
        0.17137908935546875,
        -0.31446829438209534,
        -0.2141377329826355,
        1.591228723526001,
        0.6884352564811707,
        -4.542697906494141,
        1.1296577453613281,
        -3.8803210258483887,
        2.0614938735961914,
        2.0009706020355225,
        0.9816657900810242,
        0.4602322578430176
      ],
      "elapsed_seconds": 5.904398858547211e-05
    },
    {
      "call": 264,
      "physics_step": 1056,
      "sim_time_s": 5.27999999999991,
      "observation": [
        -0.011788842268288136,
        -0.0037593278102576733,
        -0.009422628208994865,
        -0.4173992872238159,
        -0.8394230604171753,
        -0.3480614423751831,
        -0.2654518187046051,
        -0.03979627415537834,
        0.8397403955459595,
        -0.35170093178749084,
        -0.6402158141136169,
        0.7009117007255554,
        0.33515429496765137,
        -2.9758460521698,
        0.44025713205337524,
        -0.5336059331893921,
        0.30534815788269043,
        1.1150670051574707,
        0.9746823906898499,
        0.910800576210022,
        0.0008924058056436479,
        0.001931795384734869,
        -0.029486173763871193,
        -0.052379824221134186,
        -0.015933657065033913,
        -0.0005162659799680114,
        0.03913494944572449,
        5.46587398275733e-06,
        0.0002069376059807837,
        -0.00043169522541575134,
        0.0007200818508863449,
        0.000929849804379046,
        -1.8988198746683338e-07,
        0.00946671050041914,
        -0.9429731369018555,
        -0.3557661175727844,
        0.6292790770530701,
        -0.30956828594207764,
        -0.6671377420425415,
        1.2421287298202515,
        0.33933526277542114,
        -4.542697906494141,
        1.1296577453613281,
        -3.8803210258483887,
        1.9741939306259155,
        1.543070673942566,
        0.9767658114433289,
        0.9132322669029236,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9424924254417419,
        -0.35525912046432495,
        0.6280864477157593,
        -0.30978354811668396,
        -0.6664219498634338,
        1.2402522563934326,
        0.33979544043540955,
        -4.540520191192627,
        1.1301432847976685,
        -3.876877784729004,
        1.9723762273788452,
        1.542453646659851,
        0.9750581979751587,
        0.9119546413421631
      ],
      "target_rad": [
        -0.9424924254417419,
        -0.4425591230392456,
        0.17018646001815796,
        -0.31468355655670166,
        -0.21342194080352783,
        1.5893522500991821,
        0.6888954639434814,
        -4.540520191192627,
        1.1301432847976685,
        -3.876877784729004,
        2.059676170349121,
        2.0003535747528076,
        0.979958176612854,
        0.4589546322822571
      ],
      "elapsed_seconds": 0.0001783939660526812
    },
    {
      "call": 265,
      "physics_step": 1060,
      "sim_time_s": 5.299999999999909,
      "observation": [
        -0.01003642100840807,
        -0.005549013148993254,
        -0.007437454536557198,
        -0.4172867238521576,
        -0.8394107222557068,
        -0.34822604060173035,
        -0.26542991399765015,
        -0.03975531831383705,
        0.8391621708869934,
        -0.35267847776412964,
        -0.6403595209121704,
        0.7009016871452332,
        0.33596834540367126,
        -2.9758429527282715,
        0.4402599334716797,
        -0.5336157083511353,
        0.3053637146949768,
        1.1150871515274048,
        0.974664032459259,
        0.9110032320022583,
        0.0013226167066022754,
        0.002137652365490794,
        -0.028342142701148987,
        -0.047015562653541565,
        -0.003941460978239775,
        -0.000431362830568105,
        0.041257262229919434,
        0.00024499662686139345,
        7.015205483185127e-05,
        -0.0004284344904590398,
        0.0006367837195284665,
        0.0008573791710659862,
        -0.0010129151633009315,
        0.009790705516934395,
        -0.9424924254417419,
        -0.35525912046432495,
        0.6280864477157593,
        -0.30978354811668396,
        -0.6664219498634338,
        1.2402522563934326,
        0.33979544043540955,
        -4.540520191192627,
        1.1301432847976685,
        -3.876877784729004,
        1.9723762273788452,
        1.542453646659851,
        0.9750581979751587,
        0.9119546413421631,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9430897831916809,
        -0.35543859004974365,
        0.6279920935630798,
        -0.30940544605255127,
        -0.666050910949707,
        1.2405277490615845,
        0.33937931060791016,
        -4.540174961090088,
        1.1306273937225342,
        -3.877887487411499,
        1.9728862047195435,
        1.5424160957336426,
        0.9749903678894043,
        0.9124327301979065
      ],
      "target_rad": [
        -0.9430897831916809,
        -0.4427385926246643,
        0.17009210586547852,
        -0.31430545449256897,
        -0.21305090188980103,
        1.589627742767334,
        0.6884793043136597,
        -4.540174961090088,
        1.1306273937225342,
        -3.877887487411499,
        2.0601861476898193,
        2.0003161430358887,
        0.9798903465270996,
        0.4594327211380005
      ],
      "elapsed_seconds": 9.604700608178973e-05
    },
    {
      "call": 266,
      "physics_step": 1064,
      "sim_time_s": 5.319999999999909,
      "observation": [
        -0.003929709084331989,
        -0.008058653213083744,
        -0.005152110010385513,
        -0.417237788438797,
        -0.8394179940223694,
        -0.34826719760894775,
        -0.265397846698761,
        -0.03970995917916298,
        0.8386188745498657,
        -0.35355281829833984,
        -0.6404090523719788,
        0.7008953094482422,
        0.3367813229560852,
        -2.9758362770080566,
        0.4402596354484558,
        -0.533621072769165,
        0.305370032787323,
        1.1150974035263062,
        0.974648654460907,
        0.9111859798431396,
        0.0017565091839060187,
        0.0023388161789625883,
        -0.026498859748244286,
        -0.04192455857992172,
        -0.002052264753729105,
        -0.00027026032330468297,
        0.040176767855882645,
        0.00034926689113490283,
        -6.412191578419879e-05,
        -0.00017950692563317716,
        0.00012678865459747612,
        0.0003222927334718406,
        -0.0005940399132668972,
        0.008341487497091293,
        -0.9430897831916809,
        -0.35543859004974365,
        0.6279920935630798,
        -0.30940544605255127,
        -0.666050910949707,
        1.2405277490615845,
        0.33937931060791016,
        -4.540174961090088,
        1.1306273937225342,
        -3.877887487411499,
        1.9728862047195435,
        1.5424160957336426,
        0.9749903678894043,
        0.9124327301979065,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9433919787406921,
        -0.3557565212249756,
        0.6282609701156616,
        -0.30901819467544556,
        -0.6661004424095154,
        1.2408840656280518,
        0.33924421668052673,
        -4.540502071380615,
        1.1308437585830688,
        -3.878976821899414,
        1.9733911752700806,
        1.5423293113708496,
        0.9756805896759033,
        0.9130099415779114
      ],
      "target_rad": [
        -0.9433919787406921,
        -0.44305652379989624,
        0.1703609824180603,
        -0.31391820311546326,
        -0.21310043334960938,
        1.5899840593338013,
        0.6883442401885986,
        -4.540502071380615,
        1.1308437585830688,
        -3.878976821899414,
        2.0606911182403564,
        2.0002293586730957,
        0.9805805683135986,
        0.46000993251800537
      ],
      "elapsed_seconds": 9.428703924641013e-05
    },
    {
      "call": 267,
      "physics_step": 1068,
      "sim_time_s": 5.339999999999908,
      "observation": [
        -0.0005696882726624608,
        -0.008968270383775234,
        -0.00392147758975625,
        -0.41722577810287476,
        -0.8394427299499512,
        -0.34822192788124084,
        -0.2653596103191376,
        -0.039662547409534454,
        0.83811354637146,
        -0.3543228805065155,
        -0.6404460668563843,
        0.7008911967277527,
        0.3375585079193115,
        -2.975829839706421,
        0.4402574300765991,
        -0.5336222648620605,
        0.3053681254386902,
        1.115099310874939,
        0.9746450781822205,
        0.9113442897796631,
        0.0019918521866202354,
        0.0024010350462049246,
        -0.02462689019739628,
        -0.03666992858052254,
        -0.0017773668514564633,
        -0.00018025506869889796,
        0.03803354501724243,
        0.0003055727866012603,
        -0.00013419214519672096,
        1.5364453247457277e-06,
        -0.00021425522572826594,
        -1.1449113117123488e-05,
        6.829727226431714e-06,
        0.00735851377248764,
        -0.9433919787406921,
        -0.3557565212249756,
        0.6282609701156616,
        -0.30901819467544556,
        -0.6661004424095154,
        1.2408840656280518,
        0.33924421668052673,
        -4.540502071380615,
        1.1308437585830688,
        -3.878976821899414,
        1.9733911752700806,
        1.5423293113708496,
        0.9756805896759033,
        0.9130099415779114,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9433116316795349,
        -0.35582002997398376,
        0.6284933686256409,
        -0.3087572157382965,
        -0.6661612391471863,
        1.2409032583236694,
        0.3392455279827118,
        -4.54032039642334,
        1.1310023069381714,
        -3.8790464401245117,
        1.9733673334121704,
        1.5421922206878662,
        0.9760378003120422,
        0.9131627678871155
      ],
      "target_rad": [
        -0.9433116316795349,
        -0.4431200325489044,
        0.17059338092803955,
        -0.3136572241783142,
        -0.21316123008728027,
        1.590003252029419,
        0.6883455514907837,
        -4.54032039642334,
        1.1310023069381714,
        -3.8790464401245117,
        2.0606672763824463,
        2.0000922679901123,
        0.9809377789497375,
        0.4601627588272095
      ],
      "elapsed_seconds": 9.488803334534168e-05
    },
    {
      "call": 268,
      "physics_step": 1072,
      "sim_time_s": 5.359999999999908,
      "observation": [
        0.0008753938600420952,
        -0.009093021042644978,
        -0.0031828884966671467,
        -0.41723141074180603,
        -0.8394743800163269,
        -0.34813886880874634,
        -0.2653178572654724,
        -0.039614077657461166,
        0.8376424312591553,
        -0.35499483346939087,
        -0.6404805183410645,
        0.7008880376815796,
        0.3382899761199951,
        -2.9758238792419434,
        0.4402543902397156,
        -0.5336208343505859,
        0.3053610026836395,
        1.1150968074798584,
        0.9746508002281189,
        0.9114707708358765,
        0.0021313996985554695,
        0.002442871918901801,
        -0.023004353046417236,
        -0.03195509314537048,
        -0.001695083687081933,
        -0.00015177991008386016,
        0.03569667041301727,
        0.00029021507361903787,
        -0.0001638351532164961,
        0.00010743602615548298,
        -0.000424714176915586,
        -0.00017303974891547114,
        0.0004151020257268101,
        0.005558980628848076,
        -0.9433116316795349,
        -0.35582002997398376,
        0.6284933686256409,
        -0.3087572157382965,
        -0.6661612391471863,
        1.2409032583236694,
        0.3392455279827118,
        -4.54032039642334,
        1.1310023069381714,
        -3.8790464401245117,
        1.9733673334121704,
        1.5421922206878662,
        0.9760378003120422,
        0.9131627678871155,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9430874586105347,
        -0.35571131110191345,
        0.6286527514457703,
        -0.308508038520813,
        -0.6661041378974915,
        1.2407336235046387,
        0.3392241597175598,
        -4.5396904945373535,
        1.1312319040298462,
        -3.878641128540039,
        1.9730907678604126,
        1.5420573949813843,
        0.976008951663971,
        0.913108229637146
      ],
      "target_rad": [
        -0.9430874586105347,
        -0.4430113136768341,
        0.17075276374816895,
        -0.3134080469608307,
        -0.21310412883758545,
        1.5898336172103882,
        0.6883241534233093,
        -4.5396904945373535,
        1.1312319040298462,
        -3.878641128540039,
        2.0603907108306885,
        1.9999573230743408,
        0.9809089303016663,
        0.46010822057724
      ],
      "elapsed_seconds": 7.857597665861249e-05
    },
    {
      "call": 269,
      "physics_step": 1076,
      "sim_time_s": 5.3799999999999075,
      "observation": [
        0.0013800483429804444,
        -0.008878927677869797,
        -0.0026624936144798994,
        -0.4172462224960327,
        -0.8395067453384399,
        -0.34804317355155945,
        -0.2652745246887207,
        -0.03956294059753418,
        0.8372001051902771,
        -0.35557955503463745,
        -0.6405132412910461,
        0.7008849382400513,
        0.33897432684898376,
        -2.9758176803588867,
        0.44025111198425293,
        -0.5336179733276367,
        0.3053508400917053,
        1.115092396736145,
        0.9746617078781128,
        0.9115511775016785,
        0.0021681084763258696,
        0.002652624621987343,
        -0.021665334701538086,
        -0.02778545394539833,
        -0.001607159385457635,
        -0.00015436676039826125,
        0.03334859758615494,
        0.0003098893794231117,
        -0.00016871267871465534,
        0.0001618124224478379,
        -0.0005396748892962933,
        -0.00023315887665376067,
        0.0006193009321577847,
        0.0032275381963700056,
        -0.9430874586105347,
        -0.35571131110191345,
        0.6286527514457703,
        -0.308508038520813,
        -0.6661041378974915,
        1.2407336235046387,
        0.3392241597175598,
        -4.5396904945373535,
        1.1312319040298462,
        -3.878641128540039,
        1.9730907678604126,
        1.5420573949813843,
        0.976008951663971,
        0.913108229637146,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9428216218948364,
        -0.3555275499820709,
        0.6287730932235718,
        -0.30825188755989075,
        -0.6659706234931946,
        1.2404778003692627,
        0.3391665816307068,
        -4.538862705230713,
        1.1315218210220337,
        -3.878060817718506,
        1.9727164506912231,
        1.5419172048568726,
        0.9757727980613708,
        0.9129754900932312
      ],
      "target_rad": [
        -0.9428216218948364,
        -0.4428275525569916,
        0.17087310552597046,
        -0.31315189599990845,
        -0.21297061443328857,
        1.5895777940750122,
        0.6882665753364563,
        -4.538862705230713,
        1.1315218210220337,
        -3.878060817718506,
        2.060016393661499,
        1.999817132949829,
        0.9806727766990662,
        0.4599754810333252
      ],
      "elapsed_seconds": 8.448597509413958e-05
    },
    {
      "call": 270,
      "physics_step": 1080,
      "sim_time_s": 5.399999999999907,
      "observation": [
        0.0014258340233936906,
        -0.008403497748076916,
        -0.0022740247659385204,
        -0.4172656536102295,
        -0.8395366668701172,
        -0.3479476571083069,
        -0.265231728553772,
        -0.03950446471571922,
        0.8367810845375061,
        -0.3560851216316223,
        -0.6405439376831055,
        0.7008816599845886,
        0.3396102488040924,
        -2.975811004638672,
        0.44024789333343506,
        -0.5336143970489502,
        0.30533918738365173,
        1.1150873899459839,
        0.9746754169464111,
        0.9116067290306091,
        0.002111106412485242,
        0.003062509698793292,
        -0.020582405850291252,
        -0.023936545476317406,
        -0.001505708904005587,
        -0.00016122331726364791,
        0.03089841641485691,
        0.0003372123755980283,
        -0.00016140720981638879,
        0.00018479544087313116,
        -0.0005949410842731595,
        -0.00026244792388752103,
        0.000738174538128078,
        0.0026374373119324446,
        -0.9428216218948364,
        -0.3555275499820709,
        0.6287730932235718,
        -0.30825188755989075,
        -0.6659706234931946,
        1.2404778003692627,
        0.3391665816307068,
        -4.538862705230713,
        1.1315218210220337,
        -3.878060817718506,
        1.9727164506912231,
        1.5419172048568726,
        0.9757727980613708,
        0.9129754900932312,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9425433874130249,
        -0.35531628131866455,
        0.6288827657699585,
        -0.30799227952957153,
        -0.6658123731613159,
        1.2401955127716064,
        0.3390805125236511,
        -4.537954807281494,
        1.1318330764770508,
        -3.877417802810669,
        1.9723068475723267,
        1.5417735576629639,
        0.9754512310028076,
        0.912797212600708
      ],
      "target_rad": [
        -0.9425433874130249,
        -0.4426162838935852,
        0.17098277807235718,
        -0.31289228796958923,
        -0.2128123641014099,
        1.589295506477356,
        0.6881805062294006,
        -4.537954807281494,
        1.1318330764770508,
        -3.877417802810669,
        2.0596067905426025,
        1.99967360496521,
        0.9803512096405029,
        0.459797203540802
      ],
      "elapsed_seconds": 8.615601109340787e-05
    },
    {
      "call": 271,
      "physics_step": 1084,
      "sim_time_s": 5.419999999999907,
      "observation": [
        0.0013191925827413797,
        -0.00784181710332632,
        -0.001987381372600794,
        -0.4172867238521576,
        -0.8395634293556213,
        -0.3478577435016632,
        -0.2651907503604889,
        -0.03943762555718422,
        0.8363818526268005,
        -0.35651716589927673,
        -0.6405725479125977,
        0.7008782625198364,
        0.34019735455513,
        -2.9758036136627197,
        0.4402448832988739,
        -0.5336106419563293,
        0.305326908826828,
        1.115082025527954,
        0.9746906161308289,
        0.9116570353507996,
        0.002007021103054285,
        0.0034648210275918245,
        -0.019638217985630035,
        -0.020363276824355125,
        -0.0014020594535395503,
        -0.0001719132997095585,
        0.028489643707871437,
        0.00035921603557653725,
        -0.0001506534608779475,
        0.0001901717478176579,
        -0.000612297561019659,
        -0.00026810489362105727,
        0.0007984227850101888,
        0.002466557314619422,
        -0.9425433874130249,
        -0.35531628131866455,
        0.6288827657699585,
        -0.30799227952957153,
        -0.6658123731613159,
        1.2401955127716064,
        0.3390805125236511,
        -4.537954807281494,
        1.1318330764770508,
        -3.877417802810669,
        1.9723068475723267,
        1.5417735576629639,
        0.9754512310028076,
        0.912797212600708,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9422773718833923,
        -0.35510364174842834,
        0.6289973855018616,
        -0.30774742364883423,
        -0.6656551957130432,
        1.2399280071258545,
        0.3389713764190674,
        -4.537051677703857,
        1.1321384906768799,
        -3.8767893314361572,
        1.9719090461730957,
        1.5416347980499268,
        0.9751182794570923,
        0.9126107096672058
      ],
      "target_rad": [
        -0.9422773718833923,
        -0.442403644323349,
        0.17109739780426025,
        -0.31264743208885193,
        -0.2126551866531372,
        1.589028000831604,
        0.6880713701248169,
        -4.537051677703857,
        1.1321384906768799,
        -3.8767893314361572,
        2.059209108352661,
        1.9995348453521729,
        0.9800182580947876,
        0.4596107006072998
      ],
      "elapsed_seconds": 0.0001644529984332621
    },
    {
      "call": 272,
      "physics_step": 1088,
      "sim_time_s": 5.439999999999906,
      "observation": [
        0.0013297757832333446,
        -0.007157457526773214,
        -0.00166676368098706,
        -0.4173082411289215,
        -0.839587390422821,
        -0.3477741479873657,
        -0.2651522755622864,
        -0.039364054799079895,
        0.8359999060630798,
        -0.3568798899650574,
        -0.6405993103981018,
        0.7008746266365051,
        0.34073692560195923,
        -2.9757962226867676,
        0.44024211168289185,
        -0.5336071252822876,
        0.3053150773048401,
        1.1150766611099243,
        0.9747065901756287,
        0.9117045998573303,
        0.0018695398466661572,
        0.003739527892321348,
        -0.018824871629476547,
        -0.01688512973487377,
        -0.0013158811489120126,
        -0.00017652045062277466,
        0.026110393926501274,
        0.00034582457737997174,
        -0.00013711619249079376,
        0.00015563475608360022,
        -0.0005503417341969907,
        -0.0002562167646829039,
        0.0008232448599301279,
        0.00234305951744318,
        -0.9422773718833923,
        -0.35510364174842834,
        0.6289973855018616,
        -0.30774742364883423,
        -0.6656551957130432,
        1.2399280071258545,
        0.3389713764190674,
        -4.537051677703857,
        1.1321384906768799,
        -3.8767893314361572,
        1.9719090461730957,
        1.5416347980499268,
        0.9751182794570923,
        0.9126107096672058,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9420328736305237,
        -0.3549076020717621,
        0.6291218400001526,
        -0.3075244426727295,
        -0.6655263304710388,
        1.2396867275238037,
        0.3388440012931824,
        -4.536194324493408,
        1.1324057579040527,
        -3.8762030601501465,
        1.9715393781661987,
        1.5414973497390747,
        0.9748260974884033,
        0.9124333262443542
      ],
      "target_rad": [
        -0.9420328736305237,
        -0.44220760464668274,
        0.17122185230255127,
        -0.3124244511127472,
        -0.2125263214111328,
        1.5887867212295532,
        0.6879439949989319,
        -4.536194324493408,
        1.1324057579040527,
        -3.8762030601501465,
        2.0588393211364746,
        1.9993972778320312,
        0.9797260761260986,
        0.45943331718444824
      ],
      "elapsed_seconds": 0.0001742939930409193
    },
    {
      "call": 273,
      "physics_step": 1092,
      "sim_time_s": 5.459999999999906,
      "observation": [
        0.0014863735996186733,
        -0.00626414967700839,
        -0.0012804336147382855,
        -0.41733041405677795,
        -0.8396090865135193,
        -0.34769517183303833,
        -0.265116810798645,
        -0.03928707167506218,
        0.8356329202651978,
        -0.3571709394454956,
        -0.6406247615814209,
        0.7008710503578186,
        0.3412282168865204,
        -2.975789785385132,
        0.4402396082878113,
        -0.5336049795150757,
        0.3053056597709656,
        1.1150718927383423,
        0.9747228026390076,
        0.9117499589920044,
        0.0017158461268991232,
        0.0038796975277364254,
        -0.018102772533893585,
        -0.013272961601614952,
        -0.00126024114433676,
        -0.00017631954688113183,
        0.02369992621243,
        0.00028920656768605113,
        -0.00012407863687258214,
        8.15274179331027e-05,
        -0.00041607770253904164,
        -0.00023199533461593091,
        0.0008276620646938682,
        0.002235008869320154,
        -0.9420328736305237,
        -0.3549076020717621,
        0.6291218400001526,
        -0.3075244426727295,
        -0.6655263304710388,
        1.2396867275238037,
        0.3388440012931824,
        -4.536194324493408,
        1.1324057579040527,
        -3.8762030601501465,
        1.9715393781661987,
        1.5414973497390747,
        0.9748260974884033,
        0.9124333262443542,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.941802978515625,
        -0.35472384095191956,
        0.6292631030082703,
        -0.30733010172843933,
        -0.6654369235038757,
        1.239465355873108,
        0.3386960029602051,
        -4.535366058349609,
        1.1326195001602173,
        -3.87562894821167,
        1.9711836576461792,
        1.541354775428772,
        0.9745856523513794,
        0.9122577905654907
      ],
      "target_rad": [
        -0.941802978515625,
        -0.4420238435268402,
        0.17136311531066895,
        -0.31223011016845703,
        -0.21243691444396973,
        1.5885653495788574,
        0.6877959966659546,
        -4.535366058349609,
        1.1326195001602173,
        -3.87562894821167,
        2.058483600616455,
        1.9992547035217285,
        0.9794856309890747,
        0.4592577815055847
      ],
      "elapsed_seconds": 0.0001069580321200192
    },
    {
      "call": 274,
      "physics_step": 1096,
      "sim_time_s": 5.479999999999905,
      "observation": [
        0.001533443690277636,
        -0.005357201211154461,
        -0.000985402031801641,
        -0.41735178232192993,
        -0.8396286368370056,
        -0.34762224555015564,
        -0.26508423686027527,
        -0.039207134395837784,
        0.8352797627449036,
        -0.3573923110961914,
        -0.6406493782997131,
        0.7008674144744873,
        0.3416726589202881,
        -2.9757845401763916,
        0.44023728370666504,
        -0.533604085445404,
        0.3052986264228821,
        1.1150676012039185,
        0.9747390747070312,
        0.9117932319641113,
        0.0015757319051772356,
        0.00404457887634635,
        -0.017431583255529404,
        -0.009887387976050377,
        -0.00122252746950835,
        -0.00017794813902582973,
        0.021418191492557526,
        0.0002410205197520554,
        -0.0001160226747742854,
        2.495145054126624e-05,
        -0.00030793872429057956,
        -0.00020400583161972463,
        0.0008238432346843183,
        0.00213761068880558,
        -0.941802978515625,
        -0.35472384095191956,
        0.6292631030082703,
        -0.30733010172843933,
        -0.6654369235038757,
        1.239465355873108,
        0.3386960029602051,
        -4.535366058349609,
        1.1326195001602173,
        -3.87562894821167,
        1.9711836576461792,
        1.541354775428772,
        0.9745856523513794,
        0.9122577905654907,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9415911436080933,
        -0.3545464277267456,
        0.629416286945343,
        -0.30717432498931885,
        -0.6653684973716736,
        1.2392696142196655,
        0.3385404050350189,
        -4.534576892852783,
        1.132806420326233,
        -3.8750715255737305,
        1.9708467721939087,
        1.5412250757217407,
        0.9743660092353821,
        0.912085235118866
      ],
      "target_rad": [
        -0.9415911436080933,
        -0.44184643030166626,
        0.1715162992477417,
        -0.31207433342933655,
        -0.21236848831176758,
        1.588369607925415,
        0.6876404285430908,
        -4.534576892852783,
        1.132806420326233,
        -3.8750715255737305,
        2.0581467151641846,
        1.9991250038146973,
        0.9792659878730774,
        0.45908522605895996
      ],
      "elapsed_seconds": 0.00011078803800046444
    },
    {
      "call": 275,
      "physics_step": 1100,
      "sim_time_s": 5.499999999999905,
      "observation": [
        0.0014885429991409183,
        -0.004511815030127764,
        -0.0007593818590976298,
        -0.4173712432384491,
        -0.83964604139328,
        -0.34755682945251465,
        -0.2650543749332428,
        -0.0391230508685112,
        0.8349389433860779,
        -0.35755109786987305,
        -0.6406733989715576,
        0.700863778591156,
        0.34207406640052795,
        -2.9757797718048096,
        0.44023507833480835,
        -0.533604085445404,
        0.30529338121414185,
        1.1150637865066528,
        0.9747551679611206,
        0.911834716796875,
        0.00144389143679291,
        0.004278634674847126,
        -0.01684541255235672,
        -0.0069107371382415295,
        -0.0011955779045820236,
        -0.00017842662055045366,
        0.01934710517525673,
        0.00020697370928246528,
        -0.00010996956552844495,
        -1.0689812370401341e-05,
        -0.00023069573217071593,
        -0.0001770597737049684,
        0.0008128630579449236,
        0.002047644229605794,
        -0.9415911436080933,
        -0.3545464277267456,
        0.629416286945343,
        -0.30717432498931885,
        -0.6653684973716736,
        1.2392696142196655,
        0.3385404050350189,
        -4.534576892852783,
        1.132806420326233,
        -3.8750715255737305,
        1.9708467721939087,
        1.5412250757217407,
        0.9743660092353821,
        0.912085235118866,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9414030909538269,
        -0.35438188910484314,
        0.6295725107192993,
        -0.30705177783966064,
        -0.6653147339820862,
        1.2391010522842407,
        0.33838263154029846,
        -4.53384256362915,
        1.1329745054244995,
        -3.874547004699707,
        1.9705392122268677,
        1.5411115884780884,
        0.9741645455360413,
        0.9119226336479187
      ],
      "target_rad": [
        -0.9414030909538269,
        -0.4416818916797638,
        0.171672523021698,
        -0.31195178627967834,
        -0.21231472492218018,
        1.5882010459899902,
        0.6874825954437256,
        -4.53384256362915,
        1.1329745054244995,
        -3.874547004699707,
        2.0578391551971436,
        1.999011516571045,
        0.9790645241737366,
        0.4589226245880127
      ],
      "elapsed_seconds": 0.00010514800669625401
    },
    {
      "call": 276,
      "physics_step": 1104,
      "sim_time_s": 5.5199999999999045,
      "observation": [
        0.0013972106389701366,
        -0.0037535529118031263,
        -0.0005774338496848941,
        -0.4173884987831116,
        -0.8396613001823425,
        -0.3474993109703064,
        -0.26502710580825806,
        -0.03903362900018692,
        0.8346086144447327,
        -0.3576560616493225,
        -0.6406970024108887,
        0.7008601427078247,
        0.34243690967559814,
        -2.975775718688965,
        0.4402329921722412,
        -0.5336045622825623,
        0.3052894175052643,
        1.115060567855835,
        0.9747710227966309,
        0.9118744730949402,
        0.001314641791395843,
        0.00456372881308198,
        -0.016355697065591812,
        -0.004374042619019747,
        -0.0011768133845180273,
        -0.0001763484178809449,
        0.01750209555029869,
        0.00018301702220924199,
        -0.00010419791942695156,
        -3.09472088702023e-05,
        -0.00017587548063602298,
        -0.00015313352923840284,
        0.0007982544484548271,
        0.0019649702589958906,
        -0.9414030909538269,
        -0.35438188910484314,
        0.6295725107192993,
        -0.30705177783966064,
        -0.6653147339820862,
        1.2391010522842407,
        0.33838263154029846,
        -4.53384256362915,
        1.1329745054244995,
        -3.874547004699707,
        1.9705392122268677,
        1.5411115884780884,
        0.9741645455360413,
        0.9119226336479187,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9412429928779602,
        -0.3542339503765106,
        0.6297321319580078,
        -0.30696117877960205,
        -0.6652743816375732,
        1.2389631271362305,
        0.3382247984409332,
        -4.533174991607666,
        1.1331249475479126,
        -3.874070167541504,
        1.970267415046692,
        1.5410146713256836,
        0.9739869832992554,
        0.9117754697799683
      ],
      "target_rad": [
        -0.9412429928779602,
        -0.4415339529514313,
        0.1718321442604065,
        -0.31186118721961975,
        -0.21227437257766724,
        1.58806312084198,
        0.6873247623443604,
        -4.533174991607666,
        1.1331249475479126,
        -3.874070167541504,
        2.0575673580169678,
        1.9989147186279297,
        0.9788869619369507,
        0.45877546072006226
      ],
      "elapsed_seconds": 9.814801160246134e-05
    },
    {
      "call": 277,
      "physics_step": 1108,
      "sim_time_s": 5.539999999999904,
      "observation": [
        0.0012733710464090109,
        -0.0031440132297575474,
        -0.00044241760042496026,
        -0.4174036383628845,
        -0.8396744728088379,
        -0.34744927287101746,
        -0.26500245928764343,
        -0.03893783688545227,
        0.8342856764793396,
        -0.3577198088169098,
        -0.6407204270362854,
        0.7008565664291382,
        0.3427661657333374,
        -2.9757721424102783,
        0.44023099541664124,
        -0.5336053371429443,
        0.30528634786605835,
        1.1150577068328857,
        0.9747867584228516,
        0.9119126796722412,
        0.0011824440443888307,
        0.004921947605907917,
        -0.016111209988594055,
        -0.0027740951627492905,
        -0.0011754169827327132,
        -0.00017585261957719922,
        0.01594511792063713,
        0.0001698600099189207,
        -9.878662240225822e-05,
        -3.791385461227037e-05,
        -0.00013637857045978308,
        -0.0001385538198519498,
        0.0007964306278154254,
        0.001886038575321436,
        -0.9412429928779602,
        -0.3542339503765106,
        0.6297321319580078,
        -0.30696117877960205,
        -0.6652743816375732,
        1.2389631271362305,
        0.3382247984409332,
        -4.533174991607666,
        1.1331249475479126,
        -3.874070167541504,
        1.970267415046692,
        1.5410146713256836,
        0.9739869832992554,
        0.9117754697799683,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9411056637763977,
        -0.35410401225090027,
        0.6298932433128357,
        -0.3068961203098297,
        -0.6652450561523438,
        1.2388584613800049,
        0.33807727694511414,
        -4.532585620880127,
        1.1332628726959229,
        -3.873645544052124,
        1.9700343608856201,
        1.5409369468688965,
        0.9738262891769409,
        0.911644697189331
      ],
      "target_rad": [
        -0.9411056637763977,
        -0.4414040148258209,
        0.17199325561523438,
        -0.3117961287498474,
        -0.21224504709243774,
        1.5879584550857544,
        0.687177300453186,
        -4.532585620880127,
        1.1332628726959229,
        -3.873645544052124,
        2.0573344230651855,
        1.9988369941711426,
        0.9787262678146362,
        0.45864468812942505
      ],
      "elapsed_seconds": 0.00011832901509478688
    },
    {
      "call": 278,
      "physics_step": 1112,
      "sim_time_s": 5.559999999999904,
      "observation": [
        0.0011263886699452996,
        -0.0027255068998783827,
        -0.00035337943700142205,
        -0.4174171984195709,
        -0.8396857976913452,
        -0.3474055826663971,
        -0.26498061418533325,
        -0.03883320465683937,
        0.8339622020721436,
        -0.3577706217765808,
        -0.6407442092895508,
        0.7008529901504517,
        0.34306928515434265,
        -2.975768566131592,
        0.4402291178703308,
        -0.5336060523986816,
        0.30528393387794495,
        1.115054965019226,
        0.9748027920722961,
        0.9119492769241333,
        0.001036558416672051,
        0.005396788474172354,
        -0.01623372547328472,
        -0.002457613591104746,
        -0.0011955697555094957,
        -0.00017465470591560006,
        0.014752760529518127,
        0.00016668518946971744,
        -9.266893903259188e-05,
        -3.378897235961631e-05,
        -0.00010781933087855577,
        -0.0001365299103781581,
        0.0008188851061277092,
        0.0018065802287310362,
        -0.9411056637763977,
        -0.35410401225090027,
        0.6298932433128357,
        -0.3068961203098297,
        -0.6652450561523438,
        1.2388584613800049,
        0.33807727694511414,
        -4.532585620880127,
        1.1332628726959229,
        -3.873645544052124,
        1.9700343608856201,
        1.5409369468688965,
        0.9738262891769409,
        0.911644697189331,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9409884214401245,
        -0.353992760181427,
        0.6300555467605591,
        -0.3068476617336273,
        -0.665218710899353,
        1.2387855052947998,
        0.33794841170310974,
        -4.532074451446533,
        1.133398413658142,
        -3.8732783794403076,
        1.9698394536972046,
        1.5408809185028076,
        0.9736722707748413,
        0.9115310907363892
      ],
      "target_rad": [
        -0.9409884214401245,
        -0.44129276275634766,
        0.17215555906295776,
        -0.311747670173645,
        -0.21221870183944702,
        1.5878854990005493,
        0.6870484352111816,
        -4.532074451446533,
        1.133398413658142,
        -3.8732783794403076,
        2.0571393966674805,
        1.9987809658050537,
        0.9785722494125366,
        0.45853108167648315
      ],
      "elapsed_seconds": 7.578596705570817e-05
    },
    {
      "call": 279,
      "physics_step": 1116,
      "sim_time_s": 5.579999999999903,
      "observation": [
        0.001006950275041163,
        -0.002374004339799285,
        -0.00028006924549117684,
        -0.41742944717407227,
        -0.8396955728530884,
        -0.34736719727516174,
        -0.26496174931526184,
        -0.03871942311525345,
        0.8336357474327087,
        -0.3578178584575653,
        -0.6407683491706848,
        0.7008495330810547,
        0.3433511555194855,
        -2.9757652282714844,
        0.4402273893356323,
        -0.5336066484451294,
        0.30528199672698975,
        1.1150522232055664,
        0.9748192429542542,
        0.911984384059906,
        0.0008869745652191341,
        0.005838470533490181,
        -0.016381926834583282,
        -0.0023178858682513237,
        -0.0012158590834587812,
        -0.00016594200860708952,
        0.01375033799558878,
        0.00016056223830673844,
        -8.461725519737229e-05,
        -2.859959568013437e-05,
        -8.654767589177936e-05,
        -0.00013241698616184294,
        0.0008401565719395876,
        0.0017341050552204251,
        -0.9409884214401245,
        -0.353992760181427,
        0.6300555467605591,
        -0.3068476617336273,
        -0.665218710899353,
        1.2387855052947998,
        0.33794841170310974,
        -4.532074451446533,
        1.133398413658142,
        -3.8732783794403076,
        1.9698394536972046,
        1.5408809185028076,
        0.9736722707748413,
        0.9115310907363892,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9408907890319824,
        -0.3539000451564789,
        0.6302108764648438,
        -0.3068101406097412,
        -0.6651983857154846,
        1.2387272119522095,
        0.3378297686576843,
        -4.531620502471924,
        1.13352632522583,
        -3.872953176498413,
        1.9696698188781738,
        1.540829062461853,
        0.9735395312309265,
        0.9114312529563904
      ],
      "target_rad": [
        -0.9408907890319824,
        -0.44120004773139954,
        0.17231088876724243,
        -0.3117101490497589,
        -0.2121983766555786,
        1.587827205657959,
        0.6869297623634338,
        -4.531620502471924,
        1.13352632522583,
        -3.872953176498413,
        2.0569698810577393,
        1.9987289905548096,
        0.9784395098686218,
        0.4584312438964844
      ],
      "elapsed_seconds": 0.0001713740057311952
    },
    {
      "call": 280,
      "physics_step": 1120,
      "sim_time_s": 5.599999999999903,
      "observation": [
        0.0009168907417915761,
        -0.002064367290586233,
        -0.0002219376910943538,
        -0.4174405336380005,
        -0.839704155921936,
        -0.3473331928253174,
        -0.2649458348751068,
        -0.03859775885939598,
        0.8333066701889038,
        -0.3578627109527588,
        -0.6407929062843323,
        0.7008463144302368,
        0.3436145782470703,
        -2.975761890411377,
        0.4402258098125458,
        -0.5336071848869324,
        0.3052804172039032,
        1.1150496006011963,
        0.9748361706733704,
        0.9120181798934937,
        0.0007428486132994294,
        0.006207549478858709,
        -0.016504108905792236,
        -0.0022049930412322283,
        -0.0012360082473605871,
        -0.0001551759196445346,
        0.012866473756730556,
        0.00015197908214759082,
        -7.656517118448392e-05,
        -2.420873897790443e-05,
        -7.062715303618461e-05,
        -0.0001259170676348731,
        0.0008603918831795454,
        0.0016688167816028,
        -0.9408907890319824,
        -0.3539000451564789,
        0.6302108764648438,
        -0.3068101406097412,
        -0.6651983857154846,
        1.2387272119522095,
        0.3378297686576843,
        -4.531620502471924,
        1.13352632522583,
        -3.872953176498413,
        1.9696698188781738,
        1.540829062461853,
        0.9735395312309265,
        0.9114312529563904,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9408068656921387,
        -0.3538195490837097,
        0.6303655505180359,
        -0.30678266286849976,
        -0.6651845574378967,
        1.2386837005615234,
        0.33771413564682007,
        -4.5312089920043945,
        1.1336474418640137,
        -3.872661590576172,
        1.969521403312683,
        1.5407816171646118,
        0.973427414894104,
        0.911342442035675
      ],
      "target_rad": [
        -0.9408068656921387,
        -0.44111955165863037,
        0.17246556282043457,
        -0.31168267130851746,
        -0.21218454837799072,
        1.587783694267273,
        0.6868141293525696,
        -4.5312089920043945,
        1.1336474418640137,
        -3.872661590576172,
        2.056821346282959,
        1.9986815452575684,
        0.9783273935317993,
        0.45834243297576904
      ],
      "elapsed_seconds": 6.868597120046616e-05
    },
    {
      "call": 281,
      "physics_step": 1124,
      "sim_time_s": 5.619999999999902,
      "observation": [
        0.0008455565548501909,
        -0.0017883831169456244,
        -0.00017547415336593986,
        -0.4174504280090332,
        -0.8397117853164673,
        -0.3473028838634491,
        -0.26493266224861145,
        -0.03846954181790352,
        0.8329755067825317,
        -0.35790544748306274,
        -0.6408178806304932,
        0.700843334197998,
        0.3438614010810852,
        -2.9757587909698486,
        0.44022440910339355,
        -0.5336076021194458,
        0.3052791357040405,
        1.1150472164154053,
        0.974853515625,
        0.912050724029541,
        0.00060764339286834,
        0.006515552755445242,
        -0.016596220433712006,
        -0.002101145451888442,
        -0.0012567517114803195,
        -0.00014479084347840399,
        0.012068081647157669,
        0.00014271044346969575,
        -6.93932524882257e-05,
        -2.064866384898778e-05,
        -5.8368616009829566e-05,
        -0.00011760619236156344,
        0.0008794672321528196,
        0.001609967672266066,
        -0.9408068656921387,
        -0.3538195490837097,
        0.6303655505180359,
        -0.30678266286849976,
        -0.6651845574378967,
        1.2386837005615234,
        0.33771413564682007,
        -4.5312089920043945,
        1.1336474418640137,
        -3.872661590576172,
        1.969521403312683,
        1.5407816171646118,
        0.973427414894104,
        0.911342442035675,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9407360553741455,
        -0.3537508249282837,
        0.6305162906646729,
        -0.3067625164985657,
        -0.6651753783226013,
        1.238650918006897,
        0.33760032057762146,
        -4.530832290649414,
        1.1337614059448242,
        -3.872400999069214,
        1.9693905115127563,
        1.5407384634017944,
        0.9733339548110962,
        0.9112643003463745
      ],
      "target_rad": [
        -0.9407360553741455,
        -0.44105082750320435,
        0.17261630296707153,
        -0.3116625249385834,
        -0.2121753692626953,
        1.5877509117126465,
        0.6867003440856934,
        -4.530832290649414,
        1.1337614059448242,
        -3.872400999069214,
        2.0566904544830322,
        1.998638391494751,
        0.9782339334487915,
        0.4582642912864685
      ],
      "elapsed_seconds": 7.264496525749564e-05
    },
    {
      "call": 282,
      "physics_step": 1128,
      "sim_time_s": 5.639999999999902,
      "observation": [
        0.0004924216191284359,
        -0.0016639044042676687,
        0.00014763193030375987,
        -0.4174627959728241,
        -0.8397157788276672,
        -0.34727829694747925,
        -0.26492077112197876,
        -0.038341909646987915,
        0.8326449394226074,
        -0.3579465448856354,
        -0.6408426761627197,
        0.700840413570404,
        0.34409424662590027,
        -2.9757559299468994,
        0.4402231276035309,
        -0.5336079597473145,
        0.30527809262275696,
        1.1150450706481934,
        0.974871039390564,
        0.9120822548866272,
        0.0006069148657843471,
        0.006236388813704252,
        -0.016471635550260544,
        -0.0020357188768684864,
        -0.0012252067681401968,
        -0.00014108225877862424,
        0.011435940861701965,
        0.00014361630019266158,
        -6.273938197409734e-05,
        -1.6141555533977225e-05,
        -4.768296639667824e-05,
        -9.898709686240181e-05,
        0.0008789398707449436,
        0.0015637401957064867,
        -0.9407360553741455,
        -0.3537508249282837,
        0.6305162906646729,
        -0.3067625164985657,
        -0.6651753783226013,
        1.238650918006897,
        0.33760032057762146,
        -4.530832290649414,
        1.1337614059448242,
        -3.872400999069214,
        1.9693905115127563,
        1.5407384634017944,
        0.9733339548110962,
        0.9112643003463745,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9406739473342896,
        -0.35366594791412354,
        0.6306374669075012,
        -0.30675801634788513,
        -0.6651259660720825,
        1.2386322021484375,
        0.337484210729599,
        -4.530529975891113,
        1.1338814496994019,
        -3.8722007274627686,
        1.9692879915237427,
        1.540718674659729,
        0.9732442498207092,
        0.9111995697021484
      ],
      "target_rad": [
        -0.9406739473342896,
        -0.4409659504890442,
        0.1727374792098999,
        -0.31165802478790283,
        -0.2121259570121765,
        1.587732195854187,
        0.6865842342376709,
        -4.530529975891113,
        1.1338814496994019,
        -3.8722007274627686,
        2.0565879344940186,
        1.9986186027526855,
        0.9781442284584045,
        0.45819956064224243
      ],
      "elapsed_seconds": 0.00013156002387404442
    },
    {
      "call": 283,
      "physics_step": 1132,
      "sim_time_s": 5.6599999999999016,
      "observation": [
        0.0005291822599247098,
        -0.0014449619920924306,
        6.655096512986347e-05,
        -0.41747528314590454,
        -0.8397183418273926,
        -0.34725716710090637,
        -0.2649092674255371,
        -0.03821587190032005,
        0.8323159217834473,
        -0.3579862117767334,
        -0.6408670544624329,
        0.7008377313613892,
        0.3443145453929901,
        -2.97575306892395,
        0.4402219355106354,
        -0.5336082577705383,
        0.3052771985530853,
        1.1150431632995605,
        0.9748886823654175,
        0.9121128916740417,
        0.0005478875827975571,
        0.006364043802022934,
        -0.016459954902529716,
        -0.0019535606261342764,
        -0.0012196508469060063,
        -0.00012918822176288813,
        0.010792193002998829,
        0.00013809214578941464,
        -5.789160786662251e-05,
        -1.3482136637321673e-05,
        -4.069076749146916e-05,
        -9.22409089980647e-05,
        0.0008945645531639457,
        0.001516786403954029,
        -0.9406739473342896,
        -0.35366594791412354,
        0.6306374669075012,
        -0.30675801634788513,
        -0.6651259660720825,
        1.2386322021484375,
        0.337484210729599,
        -4.530529975891113,
        1.1338814496994019,
        -3.8722007274627686,
        1.9692879915237427,
        1.540718674659729,
        0.9732442498207092,
        0.9111995697021484,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9406282901763916,
        -0.35362300276756287,
        0.6307776570320129,
        -0.3067515790462494,
        -0.6651259064674377,
        1.2386202812194824,
        0.3373793065547943,
        -4.530242443084717,
        1.1339870691299438,
        -3.8720057010650635,
        1.9691956043243408,
        1.5406789779663086,
        0.9731908440589905,
        0.911143958568573
      ],
      "target_rad": [
        -0.9406282901763916,
        -0.4409230053424835,
        0.17287766933441162,
        -0.3116515874862671,
        -0.21212589740753174,
        1.587720274925232,
        0.6864793300628662,
        -4.530242443084717,
        1.1339870691299438,
        -3.8720057010650635,
        2.0564956665039062,
        1.9985790252685547,
        0.9780908226966858,
        0.458143949508667
      ],
      "elapsed_seconds": 0.00011327897664159536
    },
    {
      "call": 284,
      "physics_step": 1136,
      "sim_time_s": 5.679999999999901,
      "observation": [
        0.0008325290400534868,
        -0.0011333124712109566,
        -0.0002634976990520954,
        -0.4174824357032776,
        -0.8397237658500671,
        -0.3472353219985962,
        -0.2649001181125641,
        -0.038082677870988846,
        0.8319855332374573,
        -0.3580239415168762,
        -0.6408920288085938,
        0.7008352875709534,
        0.34452179074287415,
        -2.97575044631958,
        0.4402208626270294,
        -0.5336084961891174,
        0.30527642369270325,
        1.1150413751602173,
        0.9749069213867188,
        0.9121425747871399,
        0.0003680267254821956,
        0.006979621481150389,
        -0.016615042462944984,
        -0.0018433283548802137,
        -0.0012778349919244647,
        -0.00011491094483062625,
        0.010109749622642994,
        0.0001187320813187398,
        -5.4056661610957235e-05,
        -1.2807438906747848e-05,
        -3.510098031256348e-05,
        -9.488587238593027e-05,
        0.0009306310093961656,
        0.0014692215481773019,
        -0.9406282901763916,
        -0.35362300276756287,
        0.6307776570320129,
        -0.3067515790462494,
        -0.6651259064674377,
        1.2386202812194824,
        0.3373793065547943,
        -4.530242443084717,
        1.1339870691299438,
        -3.8720057010650635,
        1.9691956043243408,
        1.5406789779663086,
        0.9731908440589905,
        0.911143958568573,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.94058758020401,
        -0.3536040186882019,
        0.6309507489204407,
        -0.30674514174461365,
        -0.665172278881073,
        1.2386159896850586,
        0.33727920055389404,
        -4.5299272537231445,
        1.1340759992599487,
        -3.87178373336792,
        1.96909761428833,
        1.5406262874603271,
        0.9731565117835999,
        0.9110844731330872
      ],
      "target_rad": [
        -0.94058758020401,
        -0.44090402126312256,
        0.17305076122283936,
        -0.31164515018463135,
        -0.212172269821167,
        1.587715983390808,
        0.6863791942596436,
        -4.5299272537231445,
        1.1340759992599487,
        -3.87178373336792,
        2.0563976764678955,
        1.9985263347625732,
        0.9780564904212952,
        0.45808446407318115
      ],
      "elapsed_seconds": 9.281700477004051e-05
    },
    {
      "call": 285,
      "physics_step": 1140,
      "sim_time_s": 5.699999999999901,
      "observation": [
        0.000824997085146606,
        -0.0009145239018835127,
        -0.0002556536055635661,
        -0.41748449206352234,
        -0.8397320508956909,
        -0.3472128212451935,
        -0.2648950517177582,
        -0.03793732076883316,
        0.8316519260406494,
        -0.3580595552921295,
        -0.6409183740615845,
        0.7008330225944519,
        0.34471580386161804,
        -2.975748062133789,
        0.44021984934806824,
        -0.5336087346076965,
        0.3052757978439331,
        1.1150394678115845,
        0.9749258160591125,
        0.9121713638305664,
        0.00019335592514835298,
        0.007390422746539116,
        -0.01671287976205349,
        -0.0017491427715867758,
        -0.001332392101176083,
        -0.00011018483928637579,
        0.009496258571743965,
        9.960332681657746e-05,
        -4.957438795827329e-05,
        -1.1844344953715336e-05,
        -2.817877430061344e-05,
        -8.65297915879637e-05,
        0.0009516890859231353,
        0.0014285132056102157,
        -0.94058758020401,
        -0.3536040186882019,
        0.6309507489204407,
        -0.30674514174461365,
        -0.665172278881073,
        1.2386159896850586,
        0.33727920055389404,
        -4.5299272537231445,
        1.1340759992599487,
        -3.87178373336792,
        1.96909761428833,
        1.5406262874603271,
        0.9731565117835999,
        0.9110844731330872,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9405456185340881,
        -0.35356298089027405,
        0.6311076879501343,
        -0.3067493140697479,
        -0.6651902198791504,
        1.2386101484298706,
        0.33717337250709534,
        -4.529618263244629,
        1.1341632604599,
        -3.871568441390991,
        1.9690009355545044,
        1.5405912399291992,
        0.9731075167655945,
        0.9110249876976013
      ],
      "target_rad": [
        -0.9405456185340881,
        -0.4408629834651947,
        0.17320770025253296,
        -0.3116493225097656,
        -0.21219021081924438,
        1.5877101421356201,
        0.6862733364105225,
        -4.529618263244629,
        1.1341632604599,
        -3.871568441390991,
        2.0563008785247803,
        1.9984912872314453,
        0.9780074954032898,
        0.4580249786376953
      ],
      "elapsed_seconds": 8.280703332275152e-05
    },
    {
      "call": 286,
      "physics_step": 1144,
      "sim_time_s": 5.7199999999999,
      "observation": [
        0.0006921555032022297,
        -0.0007716842810623348,
        -0.00013481634960044175,
        -0.4174872040748596,
        -0.839738667011261,
        -0.34719356894493103,
        -0.26489269733428955,
        -0.03778693452477455,
        0.831317663192749,
        -0.3580935001373291,
        -0.6409454345703125,
        0.7008308172225952,
        0.3448987603187561,
        -2.9757461547851562,
        0.44021889567375183,
        -0.5336089730262756,
        0.3052752614021301,
        1.1150379180908203,
        0.9749448299407959,
        0.9121994376182556,
        7.711460784776136e-05,
        0.007584006991237402,
        -0.01671975664794445,
        -0.0016713503282517195,
        -0.0013610671740025282,
        -0.00010743586608441547,
        0.008972877636551857,
        9.5363735454157e-05,
        -4.619704850483686e-05,
        -1.046036686602747e-05,
        -2.4323138859472238e-05,
        -7.381073373835534e-05,
        0.0009574135765433311,
        0.0013923164224252105,
        -0.9405456185340881,
        -0.35356298089027405,
        0.6311076879501343,
        -0.3067493140697479,
        -0.6651902198791504,
        1.2386101484298706,
        0.33717337250709534,
        -4.529618263244629,
        1.1341632604599,
        -3.871568441390991,
        1.9690009355545044,
        1.5405912399291992,
        0.9731075167655945,
        0.9110249876976013,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9405129551887512,
        -0.35351935029029846,
        0.6312471628189087,
        -0.3067585229873657,
        -0.6651889085769653,
        1.2386075258255005,
        0.3370654881000519,
        -4.529340744018555,
        1.1342542171478271,
        -3.8713910579681396,
        1.9689209461212158,
        1.5405679941177368,
        0.9730589985847473,
        0.9109780192375183
      ],
      "target_rad": [
        -0.9405129551887512,
        -0.4408193528652191,
        0.17334717512130737,
        -0.3116585314273834,
        -0.21218889951705933,
        1.58770751953125,
        0.686165452003479,
        -4.529340744018555,
        1.1342542171478271,
        -3.8713910579681396,
        2.0562210083007812,
        1.9984679222106934,
        0.9779589772224426,
        0.4579780101776123
      ],
      "elapsed_seconds": 0.00010114797623828053
    },
    {
      "call": 287,
      "physics_step": 1148,
      "sim_time_s": 5.7399999999999,
      "observation": [
        0.0005884704296477139,
        -0.0006454007816500962,
        -5.26936273672618e-05,
        -0.4174906611442566,
        -0.8397436738014221,
        -0.3471773862838745,
        -0.2648923993110657,
        -0.03763323277235031,
        0.830983579158783,
        -0.3581260144710541,
        -0.6409728527069092,
        0.7008286714553833,
        0.34507185220718384,
        -2.9757442474365234,
        0.4402180314064026,
        -0.53360915184021,
        0.3052747845649719,
        1.1150366067886353,
        0.9749639630317688,
        0.9122268557548523,
        -2.1374620700953528e-05,
        0.007739377208054066,
        -0.016703015193343163,
        -0.0015998021699488163,
        -0.0013795557897537947,
        -0.00010407085937913507,
        0.008496846072375774,
        9.349304309580475e-05,
        -4.2987689084839076e-05,
        -9.134830179391429e-06,
        -2.0917266738251783e-05,
        -6.213471351657063e-05,
        0.0009585378575138748,
        0.001361369388177991,
        -0.9405129551887512,
        -0.35351935029029846,
        0.6312471628189087,
        -0.3067585229873657,
        -0.6651889085769653,
        1.2386075258255005,
        0.3370654881000519,
        -4.529340744018555,
        1.1342542171478271,
        -3.8713910579681396,
        1.9689209461212158,
        1.5405679941177368,
        0.9730589985847473,
        0.9109780192375183,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9404922127723694,
        -0.3534860610961914,
        0.6313830614089966,
        -0.30677223205566406,
        -0.6651899814605713,
        1.2386122941970825,
        0.33695897459983826,
        -4.529092788696289,
        1.1343443393707275,
        -3.8712406158447266,
        1.9688560962677002,
        1.5405457019805908,
        0.9730242490768433,
        0.9109401106834412
      ],
      "target_rad": [
        -0.9404922127723694,
        -0.44078606367111206,
        0.17348307371139526,
        -0.31167224049568176,
        -0.21218997240066528,
        1.587712287902832,
        0.6860589981079102,
        -4.529092788696289,
        1.1343443393707275,
        -3.8712406158447266,
        2.0561561584472656,
        1.998445749282837,
        0.9779242277145386,
        0.45794010162353516
      ],
      "elapsed_seconds": 0.0001216899836435914
    },
    {
      "call": 288,
      "physics_step": 1152,
      "sim_time_s": 5.759999999999899,
      "observation": [
        0.0005196532001718879,
        -0.0005288255633786321,
        -1.0039605513156857e-05,
        -0.4174942076206207,
        -0.8397476077079773,
        -0.34716352820396423,
        -0.26489394903182983,
        -0.03747675195336342,
        0.8306500315666199,
        -0.35815712809562683,
        -0.6410006880760193,
        0.7008266448974609,
        0.3452359437942505,
        -2.9757423400878906,
        0.4402172267436981,
        -0.5336093306541443,
        0.3052743971347809,
        1.1150355339050293,
        0.9749830961227417,
        0.912253737449646,
        -0.00011103515134891495,
        0.007871734909713268,
        -0.016670919954776764,
        -0.0015321820974349976,
        -0.0013968623243272305,
        -0.00010036218736786395,
        0.008060252293944359,
        9.030321234604344e-05,
        -3.9894886867841706e-05,
        -7.878888936829753e-06,
        -1.7392529116477817e-05,
        -5.239011443336494e-05,
        0.0009598261094652116,
        0.0013347300700843334,
        -0.9404922127723694,
        -0.3534860610961914,
        0.6313830614089966,
        -0.30677223205566406,
        -0.6651899814605713,
        1.2386122941970825,
        0.33695897459983826,
        -4.529092788696289,
        1.1343443393707275,
        -3.8712406158447266,
        1.9688560962677002,
        1.5405457019805908,
        0.9730242490768433,
        0.9109401106834412,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9404782652854919,
        -0.35346072912216187,
        0.6315191388130188,
        -0.30678996443748474,
        -0.6651960611343384,
        1.2386243343353271,
        0.3368535339832306,
        -4.528868675231934,
        1.1344304084777832,
        -3.871107339859009,
        1.9688012599945068,
        1.5405255556106567,
        0.973002552986145,
        0.9109076261520386
      ],
      "target_rad": [
        -0.9404782652854919,
        -0.4407607316970825,
        0.17361915111541748,
        -0.31168997287750244,
        -0.21219605207443237,
        1.5877243280410767,
        0.6859534978866577,
        -4.528868675231934,
        1.1344304084777832,
        -3.871107339859009,
        2.0561013221740723,
        1.9984254837036133,
        0.9779025316238403,
        0.45790761709213257
      ],
      "elapsed_seconds": 8.806702680885792e-05
    },
    {
      "call": 289,
      "physics_step": 1156,
      "sim_time_s": 5.779999999999899,
      "observation": [
        0.00027056827093474567,
        -0.0005005912971682847,
        0.0002013810008065775,
        -0.4174990653991699,
        -0.8397496938705444,
        -0.3471526801586151,
        -0.26489654183387756,
        -0.037320978939533234,
        0.8303183317184448,
        -0.35818713903427124,
        -0.6410285830497742,
        0.7008246183395386,
        0.3453921675682068,
        -2.975740432739258,
        0.4402164816856384,
        -0.5336094498634338,
        0.305274099111557,
        1.115034580230713,
        0.9750022292137146,
        0.9122801423072815,
        -0.00010756968549685553,
        0.0075981756672263145,
        -0.01649203710258007,
        -0.001492381445132196,
        -0.0013746825279667974,
        -0.0001008154358714819,
        0.007714572362601757,
        9.210489224642515e-05,
        -3.667758574010804e-05,
        -5.612987934000557e-06,
        -1.291434728045715e-05,
        -3.760671825148165e-05,
        0.0009498186409473419,
        0.001315444358624518,
        -0.9404782652854919,
        -0.35346072912216187,
        0.6315191388130188,
        -0.30678996443748474,
        -0.6651960611343384,
        1.2386243343353271,
        0.3368535339832306,
        -4.528868675231934,
        1.1344304084777832,
        -3.871107339859009,
        1.9688012599945068,
        1.5405255556106567,
        0.973002552986145,
        0.9109076261520386,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9404671788215637,
        -0.35342466831207275,
        0.6316344141960144,
        -0.3068167567253113,
        -0.6651772260665894,
        1.238642692565918,
        0.33674803376197815,
        -4.528683662414551,
        1.134518027305603,
        -3.8710076808929443,
        1.9687613248825073,
        1.5405175685882568,
        0.9729821085929871,
        0.9108815789222717
      ],
      "target_rad": [
        -0.9404671788215637,
        -0.4407246708869934,
        0.17373442649841309,
        -0.311716765165329,
        -0.21217721700668335,
        1.5877426862716675,
        0.6858479976654053,
        -4.528683662414551,
        1.134518027305603,
        -3.8710076808929443,
        2.056061267852783,
        1.998417615890503,
        0.9778820872306824,
        0.4578815698623657
      ],
      "elapsed_seconds": 0.0035315549466758966
    },
    {
      "call": 290,
      "physics_step": 1160,
      "sim_time_s": 5.799999999999899,
      "observation": [
        0.01130741648375988,
        -0.0037308724131435156,
        0.005281117279082537,
        -0.41753023862838745,
        -0.8397602438926697,
        -0.3470896780490875,
        -0.26489925384521484,
        -0.03715907782316208,
        0.8299845457077026,
        -0.3582148253917694,
        -0.6410568356513977,
        0.7008242011070251,
        0.34552934765815735,
        -2.9757375717163086,
        0.4402157962322235,
        -0.5336093306541443,
        0.3052728474140167,
        1.1150301694869995,
        0.9750480055809021,
        0.9123038053512573,
        4.73611999041168e-06,
        0.008756826631724834,
        -0.01718178018927574,
        -0.001203212421387434,
        -0.001441490720026195,
        0.000208532132091932,
        0.004994675517082214,
        0.00026235595578327775,
        -2.8932647182955407e-05,
        4.5796550693921745e-05,
        -0.00021087222557980567,
        -0.0007631420739926398,
        0.006291310302913189,
        0.0008321724599227309,
        -0.9404671788215637,
        -0.35342466831207275,
        0.6316344141960144,
        -0.3068167567253113,
        -0.6651772260665894,
        1.238642692565918,
        0.33674803376197815,
        -4.528683662414551,
        1.134518027305603,
        -3.8710076808929443,
        1.9687613248825073,
        1.5405175685882568,
        0.9729821085929871,
        0.9108815789222717,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9406424164772034,
        -0.35369351506233215,
        0.6325365304946899,
        -0.3064495027065277,
        -0.6656553745269775,
        1.2395448684692383,
        0.3362882435321808,
        -4.5290374755859375,
        1.1344074010849,
        -3.872519016265869,
        1.969533085823059,
        1.5406712293624878,
        0.9739835262298584,
        0.9115889668464661
      ],
      "target_rad": [
        -0.9406424164772034,
        -0.4409935176372528,
        0.17463654279708862,
        -0.3113495111465454,
        -0.21265536546707153,
        1.5886448621749878,
        0.6853882074356079,
        -4.5290374755859375,
        1.1344074010849,
        -3.872519016265869,
        2.056833028793335,
        1.9985711574554443,
        0.9788835048675537,
        0.45858895778656006
      ],
      "elapsed_seconds": 0.00011441897368058562
    },
    {
      "call": 291,
      "physics_step": 1164,
      "sim_time_s": 5.819999999999898,
      "observation": [
        -0.00014966956223361194,
        -0.0006686212727800012,
        -0.0006864519091323018,
        -0.41754400730133057,
        -0.839770495891571,
        -0.347048282623291,
        -0.26490622758865356,
        -0.03700054809451103,
        0.8296545147895813,
        -0.35823854804039,
        -0.641088604927063,
        0.7008216381072998,
        0.3456559181213379,
        -2.9757378101348877,
        0.4402153193950653,
        -0.5336097478866577,
        0.3052743077278137,
        1.1150305271148682,
        0.9750970005989075,
        0.9123321175575256,
        -0.00037284253630787134,
        0.007239038590341806,
        -0.015854762867093086,
        -0.001280703698284924,
        -0.0015848727198317647,
        -0.00023266860807780176,
        0.007520307321101427,
        -2.5634639314375818e-05,
        -2.4794308046693914e-05,
        -7.588635071442695e-06,
        0.00014572047803085297,
        0.0003779797407332808,
        0.001095458515919745,
        0.0016940584173426032,
        -0.9406424164772034,
        -0.35369351506233215,
        0.6325365304946899,
        -0.3064495027065277,
        -0.6656553745269775,
        1.2395448684692383,
        0.3362882435321808,
        -4.5290374755859375,
        1.1344074010849,
        -3.872519016265869,
        1.969533085823059,
        1.5406712293624878,
        0.9739835262298584,
        0.9115889668464661,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9402300715446472,
        -0.3533686101436615,
        0.6320086717605591,
        -0.3069896697998047,
        -0.6653652787208557,
        1.238678216934204,
        0.33670055866241455,
        -4.528431415557861,
        1.1346096992492676,
        -3.870523452758789,
        1.968558430671692,
        1.5404890775680542,
        0.9731231927871704,
        0.9107587933540344
      ],
      "target_rad": [
        -0.9402300715446472,
        -0.44066861271858215,
        0.17410868406295776,
        -0.3118896782398224,
        -0.2123652696609497,
        1.5877782106399536,
        0.6858005523681641,
        -4.528431415557861,
        1.1346096992492676,
        -3.870523452758789,
        2.0558583736419678,
        1.9983890056610107,
        0.9780231714248657,
        0.4577587842941284
      ],
      "elapsed_seconds": 0.00024713901802897453
    },
    {
      "call": 292,
      "physics_step": 1168,
      "sim_time_s": 5.839999999999898,
      "observation": [
        0.010030405595898628,
        -0.004191601648926735,
        0.0044394019059836864,
        -0.417563259601593,
        -0.839780867099762,
        -0.3470000922679901,
        -0.264911025762558,
        -0.03685560077428818,
        0.8293405771255493,
        -0.3582669794559479,
        -0.6411184668540955,
        0.7008187174797058,
        0.34581634402275085,
        -2.975736141204834,
        0.44021525979042053,
        -0.53360915184021,
        0.30527469515800476,
        1.115035057067871,
        0.9751212000846863,
        0.9123619794845581,
        -1.8696764527703635e-05,
        0.007862471975386143,
        -0.016188258305191994,
        -0.0012726025888696313,
        -0.0014963670400902629,
        0.00011532226926647127,
        0.006107672117650509,
        0.00025141049991361797,
        -9.04481112229405e-06,
        6.910308002261445e-05,
        -0.00016457261517643929,
        -0.00040853259270079434,
        0.00355103169567883,
        0.0010754178510978818,
        -0.9402300715446472,
        -0.3533686101436615,
        0.6320086717605591,
        -0.3069896697998047,
        -0.6653652787208557,
        1.238678216934204,
        0.33670055866241455,
        -4.528431415557861,
        1.1346096992492676,
        -3.870523452758789,
        1.968558430671692,
        1.5404890775680542,
        0.9731231927871704,
        0.9107587933540344,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9405003190040588,
        -0.3535632789134979,
        0.6327247619628906,
        -0.3065530061721802,
        -0.6655822992324829,
        1.2395915985107422,
        0.3361571431159973,
        -4.528656005859375,
        1.1346896886825562,
        -3.8721957206726074,
        1.9694205522537231,
        1.540727972984314,
        0.973776638507843,
        0.9114866852760315
      ],
      "target_rad": [
        -0.9405003190040588,
        -0.4408632814884186,
        0.1748247742652893,
        -0.3114530146121979,
        -0.2125822901725769,
        1.5886915922164917,
        0.6852571368217468,
        -4.528656005859375,
        1.1346896886825562,
        -3.8721957206726074,
        2.056720495223999,
        1.9986279010772705,
        0.9786766171455383,
        0.4584866762161255
      ],
      "elapsed_seconds": 0.00015599298058077693
    },
    {
      "call": 293,
      "physics_step": 1172,
      "sim_time_s": 5.859999999999897,
      "observation": [
        -0.001550321001559496,
        -0.0004693603259511292,
        -0.0012506007915362716,
        -0.41756850481033325,
        -0.8397880792617798,
        -0.3469763398170471,
        -0.26491767168045044,
        -0.036711111664772034,
        0.8290284872055054,
        -0.3582921624183655,
        -0.6411496996879578,
        0.700815737247467,
        0.3459676206111908,
        -2.975735902786255,
        0.44021543860435486,
        -0.5336092114448547,
        0.30527645349502563,
        1.115039348602295,
        0.9751455783843994,
        0.9123938679695129,
        -0.0003330872277729213,
        0.006896972190588713,
        -0.01525842770934105,
        -0.0012783368583768606,
        -0.0015573803102597594,
        -0.0001767535286489874,
        0.008110268041491508,
        1.2226669241499621e-06,
        3.290124823251972e-06,
        2.157688413717551e-06,
        0.0001252034999197349,
        0.0003609027771744877,
        0.0005655686254613101,
        0.001740273553878069,
        -0.9405003190040588,
        -0.3535632789134979,
        0.6327247619628906,
        -0.3065530061721802,
        -0.6655822992324829,
        1.2395915985107422,
        0.3361571431159973,
        -4.528656005859375,
        1.1346896886825562,
        -3.8721957206726074,
        1.9694205522537231,
        1.540727972984314,
        0.973776638507843,
        0.9114866852760315,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9400818943977356,
        -0.35323184728622437,
        0.6321560144424438,
        -0.3070286214351654,
        -0.6652612090110779,
        1.238561749458313,
        0.33656927943229675,
        -4.527883529663086,
        1.1348837614059448,
        -3.8700063228607178,
        1.9683040380477905,
        1.5404469966888428,
        0.9728493094444275,
        0.9105756282806396
      ],
      "target_rad": [
        -0.9400818943977356,
        -0.440531849861145,
        0.17425602674484253,
        -0.3119286298751831,
        -0.21226119995117188,
        1.5876617431640625,
        0.6856693029403687,
        -4.527883529663086,
        1.1348837614059448,
        -3.8700063228607178,
        2.0556039810180664,
        1.9983470439910889,
        0.9777492880821228,
        0.45757561922073364
      ],
      "elapsed_seconds": 9.521801257506013e-05
    },
    {
      "call": 294,
      "physics_step": 1176,
      "sim_time_s": 5.879999999999897,
      "observation": [
        -0.0020000054500997066,
        -0.00012181721831439063,
        -0.0012005171738564968,
        -0.41759300231933594,
        -0.8397975564002991,
        -0.346923828125,
        -0.26492375135421753,
        -0.03655628487467766,
        0.8287110924720764,
        -0.3583170771598816,
        -0.6411797404289246,
        0.7008140087127686,
        0.3461020886898041,
        -2.9757344722747803,
        0.44021591544151306,
        -0.5336090326309204,
        0.30527591705322266,
        1.1150388717651367,
        0.9751812815666199,
        0.9124202132225037,
        -0.00043394858948886395,
        0.007570342626422644,
        -0.015616057440638542,
        -0.0013685673475265503,
        -0.0014621213776990771,
        -0.00020912347827106714,
        0.007743059657514095,
        1.3493739970726892e-05,
        3.350802944623865e-05,
        -8.432210961473174e-06,
        3.575410300982185e-05,
        0.0002732596767600626,
        0.0005714324652217329,
        0.0014589630300179124,
        -0.9400818943977356,
        -0.35323184728622437,
        0.6321560144424438,
        -0.3070286214351654,
        -0.6652612090110779,
        1.238561749458313,
        0.33656927943229675,
        -4.527883529663086,
        1.1348837614059448,
        -3.8700063228607178,
        1.9683040380477905,
        1.5404469966888428,
        0.9728493094444275,
        0.9105756282806396,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9399838447570801,
        -0.35302793979644775,
        0.6322531700134277,
        -0.30687835812568665,
        -0.6650403141975403,
        1.238472580909729,
        0.33635038137435913,
        -4.527108669281006,
        1.135206937789917,
        -3.8696448802948,
        1.968098759651184,
        1.5404658317565918,
        0.9723324775695801,
        0.9104195833206177
      ],
      "target_rad": [
        -0.9399838447570801,
        -0.4403279423713684,
        0.17435318231582642,
        -0.31177836656570435,
        -0.21204030513763428,
        1.5875725746154785,
        0.6854503750801086,
        -4.527108669281006,
        1.135206937789917,
        -3.8696448802948,
        2.05539870262146,
        1.998365879058838,
        0.9772324562072754,
        0.45741957426071167
      ],
      "elapsed_seconds": 9.081698954105377e-05
    },
    {
      "call": 295,
      "physics_step": 1180,
      "sim_time_s": 5.899999999999896,
      "observation": [
        -0.0009590934496372938,
        -0.00013051934365648776,
        -0.0007279380806721747,
        -0.4176104664802551,
        -0.8398032188415527,
        -0.3468891382217407,
        -0.26493215560913086,
        -0.03639107942581177,
        0.8283928632736206,
        -0.35834169387817383,
        -0.6412082314491272,
        0.7008123397827148,
        0.3462340235710144,
        -2.97573184967041,
        0.44021663069725037,
        -0.5336088538169861,
        0.30527475476264954,
        1.1150381565093994,
        0.975208044052124,
        0.9124444723129272,
        -0.0006065162597224116,
        0.008480653166770935,
        -0.015934446826577187,
        -0.0012286262353882194,
        -0.0014358542393893003,
        -0.00017460423987358809,
        0.006815002765506506,
        5.071095438324846e-05,
        4.045245805173181e-05,
        -1.6135127225425094e-05,
        4.770874056703178e-06,
        0.00013934032176621258,
        0.0007552156457677484,
        0.0012999022146686912,
        -0.9399838447570801,
        -0.35302793979644775,
        0.6322531700134277,
        -0.30687835812568665,
        -0.6650403141975403,
        1.238472580909729,
        0.33635038137435913,
        -4.527108669281006,
        1.135206937789917,
        -3.8696448802948,
        1.968098759651184,
        1.5404658317565918,
        0.9723324775695801,
        0.9104195833206177,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9399594664573669,
        -0.3530031144618988,
        0.6324803233146667,
        -0.3067612648010254,
        -0.6650426983833313,
        1.2385296821594238,
        0.33615875244140625,
        -4.526764869689941,
        1.135369062423706,
        -3.8696389198303223,
        1.9680765867233276,
        1.5404367446899414,
        0.9722895622253418,
        0.9104400277137756
      ],
      "target_rad": [
        -0.9399594664573669,
        -0.44030311703681946,
        0.17458033561706543,
        -0.3116612732410431,
        -0.2120426893234253,
        1.5876296758651733,
        0.6852587461471558,
        -4.526764869689941,
        1.135369062423706,
        -3.8696389198303223,
        2.0553765296936035,
        1.9983367919921875,
        0.9771895408630371,
        0.45744001865386963
      ],
      "elapsed_seconds": 5.9974961914122105e-05
    },
    {
      "call": 296,
      "physics_step": 1184,
      "sim_time_s": 5.919999999999896,
      "observation": [
        -0.0035603612195700407,
        0.0008117289398796856,
        -0.001812522765249014,
        -0.4176221787929535,
        -0.8398076891899109,
        -0.346864253282547,
        -0.26494482159614563,
        -0.03621446341276169,
        0.8280699849128723,
        -0.35836341977119446,
        -0.6412373185157776,
        0.700810432434082,
        0.34634965658187866,
        -2.9757299423217773,
        0.4402174949645996,
        -0.5336090326309204,
        0.305274099111557,
        1.1150370836257935,
        0.9752382636070251,
        0.9124675989151001,
        -0.0007498381892219186,
        0.008423347026109695,
        -0.015737080946564674,
        -0.0011799533385783434,
        -0.0014317685272544622,
        -0.00023015499755274504,
        0.006720753852277994,
        3.828387343673967e-05,
        3.491176903480664e-05,
        -1.7638418285059743e-05,
        5.6443856010446325e-05,
        0.0003171834978275001,
        0.0002986359759233892,
        0.001386105315759778,
        -0.9399594664573669,
        -0.3530031144618988,
        0.6324803233146667,
        -0.3067612648010254,
        -0.6650426983833313,
        1.2385296821594238,
        0.33615875244140625,
        -4.526764869689941,
        1.135369062423706,
        -3.8696389198303223,
        1.9680765867233276,
        1.5404367446899414,
        0.9722895622253418,
        0.9104400277137756,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9398313760757446,
        -0.35287535190582275,
        0.6324869394302368,
        -0.30683526396751404,
        -0.6649445295333862,
        1.2383170127868652,
        0.3361218273639679,
        -4.526330947875977,
        1.1355221271514893,
        -3.869056463241577,
        1.9677740335464478,
        1.540371298789978,
        0.9720030426979065,
        0.9101995229721069
      ],
      "target_rad": [
        -0.9398313760757446,
        -0.4401753544807434,
        0.1745869517326355,
        -0.31173527240753174,
        -0.21194452047348022,
        1.5874170064926147,
        0.685221791267395,
        -4.526330947875977,
        1.1355221271514893,
        -3.869056463241577,
        2.0550739765167236,
        1.9982712268829346,
        0.9769030213356018,
        0.4571995139122009
      ],
      "elapsed_seconds": 7.924600504338741e-05
    },
    {
      "call": 297,
      "physics_step": 1188,
      "sim_time_s": 5.939999999999896,
      "observation": [
        0.0011999723501503468,
        -7.9089637438301e-05,
        0.0004561698588076979,
        -0.41766542196273804,
        -0.8398203253746033,
        -0.34678155183792114,
        -0.2649582624435425,
        -0.03602686896920204,
        0.827741265296936,
        -0.35838228464126587,
        -0.6412665247917175,
        0.7008109092712402,
        0.34644338488578796,
        -2.975727081298828,
        0.44021835923194885,
        -0.5336089134216309,
        0.30527186393737793,
        1.1150306463241577,
        0.975282609462738,
        0.9124855995178223,
        -0.0008805114775896072,
        0.009446337819099426,
        -0.016475195065140724,
        -0.0009457938722334802,
        -0.00147958192974329,
        -0.00010853460116777569,
        0.004887535702437162,
        3.073045809287578e-05,
        5.5109143431764096e-05,
        -2.9445340260281228e-05,
        -2.505375050532166e-05,
        -9.377943206345662e-05,
        0.0016942480579018593,
        0.0010010419646278024,
        -0.9398313760757446,
        -0.35287535190582275,
        0.6324869394302368,
        -0.30683526396751404,
        -0.6649445295333862,
        1.2383170127868652,
        0.3361218273639679,
        -4.526330947875977,
        1.1355221271514893,
        -3.869056463241577,
        1.9677740335464478,
        1.540371298789978,
        0.9720030426979065,
        0.9101995229721069,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9398007988929749,
        -0.3528970181941986,
        0.6329743266105652,
        -0.30661073327064514,
        -0.6651119589805603,
        1.2386490106582642,
        0.3358319401741028,
        -4.526089668273926,
        1.135602355003357,
        -3.8694560527801514,
        1.9679652452468872,
        1.5404284000396729,
        0.9722476005554199,
        0.9104147553443909
      ],
      "target_rad": [
        -0.9398007988929749,
        -0.44019702076911926,
        0.17507433891296387,
        -0.31151074171066284,
        -0.2121119499206543,
        1.5877490043640137,
        0.6849319338798523,
        -4.526089668273926,
        1.135602355003357,
        -3.8694560527801514,
        2.055265188217163,
        1.998328447341919,
        0.9771475791931152,
        0.45741474628448486
      ],
      "elapsed_seconds": 8.054595673456788e-05
    },
    {
      "call": 298,
      "physics_step": 1192,
      "sim_time_s": 5.959999999999895,
      "observation": [
        0.01062028668820858,
        -0.003084540134295821,
        0.005357676185667515,
        -0.41768744587898254,
        -0.8398256897926331,
        -0.3467419743537903,
        -0.2649731934070587,
        -0.035845883190631866,
        0.8274194598197937,
        -0.3583998382091522,
        -0.6412962675094604,
        0.7008104920387268,
        0.34653764963150024,
        -2.975724220275879,
        0.4402190148830414,
        -0.5336087346076965,
        0.3052707314491272,
        1.115027666091919,
        0.9753217697143555,
        0.9125057458877563,
        -0.0005021073739044368,
        0.00941511057317257,
        -0.01651935838162899,
        -0.00065547542180866,
        -0.0014965191949158907,
        0.0002708770625758916,
        0.0030886849854141474,
        0.00026085670106112957,
        3.974916035076603e-05,
        3.9381866372423247e-05,
        -0.00022399153385777026,
        -0.0008195373811759055,
        0.004392748698592186,
        0.000575111189391464,
        -0.9398007988929749,
        -0.3528970181941986,
        0.6329743266105652,
        -0.30661073327064514,
        -0.6651119589805603,
        1.2386490106582642,
        0.3358319401741028,
        -4.526089668273926,
        1.135602355003357,
        -3.8694560527801514,
        1.9679652452468872,
        1.5404284000396729,
        0.9722476005554199,
        0.9104147553443909,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9399994015693665,
        -0.35316985845565796,
        0.6337559223175049,
        -0.30636513233184814,
        -0.6655696630477905,
        1.2395459413528442,
        0.3354070782661438,
        -4.526638031005859,
        1.1354296207427979,
        -3.870997428894043,
        1.968768835067749,
        1.5405937433242798,
        0.9732999205589294,
        0.911109983921051
      ],
      "target_rad": [
        -0.9399994015693665,
        -0.4404698610305786,
        0.17585593461990356,
        -0.31126514077186584,
        -0.21256965398788452,
        1.5886459350585938,
        0.6845070719718933,
        -4.526638031005859,
        1.1354296207427979,
        -3.870997428894043,
        2.0560688972473145,
        1.9984936714172363,
        0.9781998991966248,
        0.458109974861145
      ],
      "elapsed_seconds": 6.241502705961466e-05
    },
    {
      "call": 299,
      "physics_step": 1196,
      "sim_time_s": 5.979999999999895,
      "observation": [
        0.004326750058680773,
        -0.0004063463129568845,
        0.002761734649538994,
        -0.41766244173049927,
        -0.8398159146308899,
        -0.34679582715034485,
        -0.2649884819984436,
        -0.035659775137901306,
        0.8270878195762634,
        -0.3584086298942566,
        -0.6413300037384033,
        0.7008151412010193,
        0.3466045558452606,
        -2.9757237434387207,
        0.44021984934806824,
        -0.5336093902587891,
        0.30526992678642273,
        1.1150152683258057,
        0.9755486249923706,
        0.9125215411186218,
        -0.0005758391343988478,
        0.00896765198558569,
        -0.016100989654660225,
        -0.0005027097649872303,
        -0.001644438598304987,
        0.0002097942488035187,
        0.0030563867185264826,
        0.000174243570654653,
        -1.4573391126759816e-05,
        3.687287608045153e-05,
        -0.00011039160017389804,
        -0.00047951051965355873,
        0.01050588395446539,
        0.0008486167644150555,
        -0.9399994015693665,
        -0.35316985845565796,
        0.6337559223175049,
        -0.30636513233184814,
        -0.6655696630477905,
        1.2395459413528442,
        0.3354070782661438,
        -4.526638031005859,
        1.1354296207427979,
        -3.870997428894043,
        1.968768835067749,
        1.5405937433242798,
        0.9732999205589294,
        0.911109983921051,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "action": [
        -0.9397410154342651,
        -0.3530353903770447,
        0.6335947513580322,
        -0.30681172013282776,
        -0.6656714677810669,
        1.2389227151870728,
        0.3355911076068878,
        -4.526141166687012,
        1.1352269649505615,
        -3.869413137435913,
        1.967984914779663,
        1.5403372049331665,
        0.9730530977249146,
        0.9104632139205933
      ],
      "target_rad": [
        -0.9397410154342651,
        -0.44033539295196533,
        0.1756947636604309,
        -0.31171172857284546,
        -0.2126714587211609,
        1.5880227088928223,
        0.6846910715103149,
        -4.526141166687012,
        1.1352269649505615,
        -3.869413137435913,
        2.0552849769592285,
        1.998237133026123,
        0.9779530763626099,
        0.45746320486068726
      ],
      "elapsed_seconds": 5.740398773923516e-05
    }
  ],
  "error": null,
  "simulator_warnings": [
    {
      "name": "mjWARN_INERTIA",
      "count": 0,
      "last_info": 0
    },
    {
      "name": "mjWARN_CONTACTFULL",
      "count": 0,
      "last_info": 0
    },
    {
      "name": "mjWARN_CNSTRFULL",
      "count": 0,
      "last_info": 0
    },
    {
      "name": "mjWARN_BADQPOS",
      "count": 0,
      "last_info": 0
    },
    {
      "name": "mjWARN_BADQVEL",
      "count": 0,
      "last_info": 0
    },
    {
      "name": "mjWARN_BADQACC",
      "count": 0,
      "last_info": 0
    },
    {
      "name": "mjWARN_BADCTRL",
      "count": 0,
      "last_info": 0
    }
  ],
  "files": {
    "collision-heightfield.json": {
      "sha256": "1b54217fb312e49d434f943de729448a6a1d0270fc1e8f17beac75b584ea005b",
      "bytes": 74202
    },
    "model/add_backlash.py": {
      "sha256": "805a17ba4ad60f7a2ba20ff90879ad93a6db66013150c5ad9be3d31bc7b4252c",
      "bytes": 5867
    },
    "model/additional.xml": {
      "sha256": "958010af8e09a2ac7a79797d1aead327435e5201b3c4df0f2f7220f3c2c42941",
      "bytes": 611
    },
    "model/allcollisions_contacts.xml": {
      "sha256": "8a5bd59e09c6469fa99036bb6cfa6e31972c363bb4ed065bec22f0eb465d6f16",
      "bytes": 576
    },
    "model/apartment.xml": {
      "sha256": "4e6a6f5baf07ab842d9860a2e5baa72f516b864213cecb8184123d17ab23d7de",
      "bytes": 26086
    },
    "model/assets/ankle_l_v1.part": {
      "sha256": "f074c5b5cc3273d46142f382820b4446206c0c08e81a13104b61d8c07f4be75c",
      "bytes": 377
    },
    "model/assets/ankle_l_v1.stl": {
      "sha256": "cf4407956caf05b2e9bb2c75764fa365d217f44efb5d365ed18ccfa62db3436f",
      "bytes": 235984
    },
    "model/assets/ankle_left.part": {
      "sha256": "29dfeff917970b424cdb166b388be6f9ef03cd78e07d80f757a807abf9878866",
      "bytes": 377
    },
    "model/assets/ankle_left.stl": {
      "sha256": "2ec1bd89205b407efebaa9a8898ad9fea741389d87b80ecc5c96b21d1668119e",
      "bytes": 248984
    },
    "model/assets/ankle_r_v1.part": {
      "sha256": "a64063150d4f0c99eb124c2e7c091d2f78565a9db2467d506d5d81fde6d512cf",
      "bytes": 377
    },
    "model/assets/ankle_r_v1.stl": {
      "sha256": "0ddd5d3135cde74bddbfbaf6469f50ac02ba44681b796853a052bf0d23751d1d",
      "bytes": 235784
    },
    "model/assets/ankle_right.part": {
      "sha256": "8591240d8c0329cad47b5eedc5efa5e8782fee250e41caa484308a1e776734f1",
      "bytes": 378
    },
    "model/assets/ankle_right.stl": {
      "sha256": "f83f388ae00787415e76b8ecaab769f08f25b8c4e90c1937ff0fc4d68d81722e",
      "bytes": 248884
    },
    "model/assets/banana_pcb_locker.part": {
      "sha256": "88c2298109f8a3539a6814c50a68289332b389c0a98cb63129f3dfba3b72e0d0",
      "bytes": 384
    },
    "model/assets/banana_pcb_locker.stl": {
      "sha256": "42ddde9d01bf5d91f88b99847017f14d97d2537ee27383c6d41dd8bf30a51134",
      "bytes": 69484
    },
    "model/assets/bearing_roll.part": {
      "sha256": "fd7c1e7a77a318e8c4dd4b342228a3aff35857f010ada545105040ff64a97de7",
      "bytes": 379
    },
    "model/assets/bearing_roll.stl": {
      "sha256": "b5603a64b2d965ad75ea847767b5798130852e12a658fde7b5068fc457e2adcc",
      "bytes": 121084
    },
    "model/assets/bottom_head_shell.part": {
      "sha256": "a0dd8d96c6c0d19153dfd01709b642c929457affc8420bfa4248cc57b1bbae47",
      "bytes": 383
    },
    "model/assets/bottom_head_shell.stl": {
      "sha256": "1820f7cf96646b0fc0c431f07da87b91b13111bfa9857ab1bf2b1fc3388f8da2",
      "bytes": 1048584
    },
    "model/assets/captured.hfield": {
      "sha256": "5af7d955f18fbefa5d71a7963437ee005d7baf2448cb01419581873a4ed61c01",
      "bytes": 16908
    },
    "model/assets/elec_rpi_robot_hat_pcb.part": {
      "sha256": "1ef13cd35c7eae75e5609f2d0773c698bedefa566d0e7de915f9b61d599d974f",
      "bytes": 388
    },
    "model/assets/elec_rpi_robot_hat_pcb.stl": {
      "sha256": "1a61582759d82b5b4df9b7d11099bf1bb3944fc77e6b74d3237adf24dd5d03d7",
      "bytes": 942884
    },
    "model/assets/face_part.part": {
      "sha256": "11c225acb4aae06b51850ade1f542a0c8fc2f3916cab592b78735eea2a72f11c",
      "bytes": 376
    },
    "model/assets/face_part.stl": {
      "sha256": "d0e89a173e7bdc8038c4d413f458140d8f42f1a2f098f67a887c2388eff31718",
      "bytes": 570684
    },
    "model/assets/foot_left.part": {
      "sha256": "b5248b01d15c33316545773b4f2e892bb1a19625db67049ef6c1078e20096703",
      "bytes": 376
    },
    "model/assets/foot_left.stl": {
      "sha256": "a1f5d43456d0f522bd60870153795f1e8112c1adf9b8b4373b59608d9545c044",
      "bytes": 996184
    },
    "model/assets/foot_right.part": {
      "sha256": "315d6ce39a4061f8c163e805d1555f4b140800f27f4a2394095571f43ffc9a08",
      "bytes": 377
    },
    "model/assets/foot_right.stl": {
      "sha256": "54f97fa1f0e0e611d31329df9f3c3b17ffcca2d695c579d1d32cbe99e8a6c7ef",
      "bytes": 997684
    },
    "model/assets/hip_l.part": {
      "sha256": "0d07654fd3ef9a3ddb7b071362379fab813e87acb814843ebc90b9df3f3933cd",
      "bytes": 372
    },
    "model/assets/hip_l.stl": {
      "sha256": "e175896932d76dc7648cf939aa39cb7b1d188b783d91745adb9a4cec65e9052c",
      "bytes": 1048584
    },
    "model/assets/jaw.part": {
      "sha256": "257d1617ee2211e2724c3716523af391650711a1cc982209397b893aed9029ee",
      "bytes": 369
    },
    "model/assets/jaw.stl": {
      "sha256": "45cdbd319a4583095d8daa0db07dee726522a743d59acb82d27d82ded500a1cf",
      "bytes": 495984
    },
    "model/assets/jaw_soft.part": {
      "sha256": "faa573ca64c9a98c65bd6288db990a0fa4d87ec2c8b52322dece28cd8f901faf",
      "bytes": 426
    },
    "model/assets/jaw_soft.stl": {
      "sha256": "2d2ade4e86df4b37ce313bb9b96023109dd04bab39dba08b154e76d332fbce2e",
      "bytes": 336384
    },
    "model/assets/left_shell.part": {
      "sha256": "5f54088d4a0405eb667330f7ff0cdb0010ae48eaec47849b93cb31e0ec60234f",
      "bytes": 377
    },
    "model/assets/left_shell.stl": {
      "sha256": "2abde8e2b79c9b011cdb11957c67ab4287b45d7301affd4235ab81141118e331",
      "bytes": 1048584
    },
    "model/assets/leg.part": {
      "sha256": "a4cea64f7e43c6a3de2e0150b192d5177b1c96ed578560717a85420db483130b",
      "bytes": 370
    },
    "model/assets/leg.stl": {
      "sha256": "9a91cc1ae31ecd9e0c1ba93f3bb2ad8a12e29bff24ec27d1ac66c0c3037d9fcf",
      "bytes": 738884
    },
    "model/assets/lens.part": {
      "sha256": "bd62583c7184c9d0cdadc25664b5d827dbde821b4695c58e8279517b40866854",
      "bytes": 370
    },
    "model/assets/lens.stl": {
      "sha256": "b1c717432ff7666398de58adec6a1b7e03a7e45aa155dbfe27a6152ef19663e5",
      "bytes": 93684
    },
    "model/assets/m12_lens_holder.part": {
      "sha256": "a0a87aeb786c48c33a518b4dd7fed0b89def972dd049c14e61ea79efc4e76b11",
      "bytes": 381
    },
    "model/assets/m12_lens_holder.stl": {
      "sha256": "031d5ffaf6247328cf6d020f6b6695ffb3f8d3f22cf923b85811351d89ecfd7c",
      "bytes": 549684
    },
    "model/assets/motor_support.part": {
      "sha256": "36335b45277d021772415ef85398cb3636699b2d462c452dfb480b28bb68b516",
      "bytes": 380
    },
    "model/assets/motor_support.stl": {
      "sha256": "ce0aa5bef82c7474512d302568c341b9769b3005e0bdb91a19c2eaaba6dad480",
      "bytes": 180884
    },
    "model/assets/neck.part": {
      "sha256": "d80b9eb1be66d63a80e6d970f8c3ce1b9ff202590e8b52d421ba3d0402c39fda",
      "bytes": 371
    },
    "model/assets/neck.stl": {
      "sha256": "b6e86b886153be8a8a776c1cb219c074ee9e89c8bd431117662a2d9e504d7cb5",
      "bytes": 73484
    },
    "model/assets/neck_pitch.part": {
      "sha256": "2eacfc6f3cd00271117bf60e2c804d36199514fceefcbf779d5a69e3fa9d9fb0",
      "bytes": 428
    },
    "model/assets/neck_pitch.stl": {
      "sha256": "a685ce65348ae4d0d49417c69a7a8871f8bbd54a6e3419362be9c334abd5d2ae",
      "bytes": 356084
    },
    "model/assets/noenoeil.part": {
      "sha256": "a3efe21844d8356f9830e4208157d4708694596065e407feb74ed655fd80789a",
      "bytes": 375
    },
    "model/assets/noenoeil.stl": {
      "sha256": "e1167b3d5ad7fbbe6e63296bcd0c6b61556611e6bc1367b15ecfd27e3abb72f5",
      "bytes": 49284
    },
    "model/assets/np_f970.part": {
      "sha256": "ef948d20413ed2e3e463041583755360f37dfb9189d1e13cf84048ff39a35c67",
      "bytes": 373
    },
    "model/assets/np_f970.stl": {
      "sha256": "0e55a48281331b3b7b1a363d2e93b6012f37c52045b6dc922a149ca7c1b38388",
      "bytes": 1048584
    },
    "model/assets/pcb__raspberry_pi_zero_2_w.part": {
      "sha256": "d940276bbba2831fa6ce6f512e090456b1247efbe87e882f26719075dd87aa1b",
      "bytes": 393
    },
    "model/assets/pcb__raspberry_pi_zero_2_w.stl": {
      "sha256": "802cc66fc5447c67fc642d1339e55160df10f2ad04a65efd130e35fb7b2d3c90",
      "bytes": 1048584
    },
    "model/assets/power_support.part": {
      "sha256": "9a82260d06d2e00976f2e4e916c4d4782b0a23679d07ee759ae8f9f182e3540b",
      "bytes": 380
    },
    "model/assets/power_support.stl": {
      "sha256": "ee45e397d3f3422f34940a4b61156c3c11c7e8c2b240451ce5f9ddd1622a130e",
      "bytes": 641684
    },
    "model/assets/right_shell.part": {
      "sha256": "cbc6cb2889db13fa9a283fc29d275c47e50207ffa0616c8498a6addc38621fd1",
      "bytes": 378
    },
    "model/assets/right_shell.stl": {
      "sha256": "3efba3e193cc6aa49d49a9c92cdded0504917397c9e2c5b8fe002a958e2f2d2b",
      "bytes": 1048584
    },
    "model/assets/rim.part": {
      "sha256": "96648c282219239d1c1bba14c3d81949618759983674c15449776cb40d41c177",
      "bytes": 421
    },
    "model/assets/rim.stl": {
      "sha256": "b3c9cc8ea50a1406d289060dc007894e009471f15b59baf443a5545bfc242c6f",
      "bytes": 115284
    },
    "model/assets/roller_blade.part": {
      "sha256": "add40a287e5f06d0fa704fc74795b7221940519653002aafa01e5e69accc9238",
      "bytes": 430
    },
    "model/assets/roller_blade.stl": {
      "sha256": "cbdc755394d5046640db6045dd241921654ec17a313db9de8e851c14b918472f",
      "bytes": 1048484
    },
    "model/assets/seeed_bearing__configuration__22x16x4.part": {
      "sha256": "5104963cc7ca63d44762ca762227f0528217d02d692a0ae9b1f397ba8c33a257",
      "bytes": 421
    },
    "model/assets/seeed_bearing__configuration__22x16x4.stl": {
      "sha256": "295ee68ed9766c91fe06d3a2a49d39f7c2f56cc943395d293afdeb013123435e",
      "bytes": 1048584
    },
    "model/assets/seeed_bearing__configuration_default.part": {
      "sha256": "7bcd749ad222a1f10049e2511cc083766747b23aa9dd4746c8311c4cfcc84dd9",
      "bytes": 420
    },
    "model/assets/seeed_bearing__configuration_default.stl": {
      "sha256": "e815f3483a2e7b80844f3c0938a47e53db38b12faed9b2d364414c19e4322da4",
      "bytes": 1048584
    },
    "model/assets/soft_mouth_top.part": {
      "sha256": "4bfa1f8ace9b9000ff76f2fd34e9cef278e6635b871c3291cb45e2e02e5fac4a",
      "bytes": 432
    },
    "model/assets/soft_mouth_top.stl": {
      "sha256": "3c2b52b0b6e2ce944a1e1b5a0838e1216be1ad3a34c8cdf91be186e634aec57b",
      "bytes": 393584
    },
    "model/assets/sole_left.part": {
      "sha256": "b8ff505c92bfa8e89a9eb6db750dfe139fe8bb6606c532bc01d89f6088f619dc",
      "bytes": 376
    },
    "model/assets/sole_left.stl": {
      "sha256": "e028c8b09fecd4cb354d042bf7fd95a1a1bc2d524d760d62137fa8d74093fc23",
      "bytes": 789484
    },
    "model/assets/sole_right.part": {
      "sha256": "62a129727a8d780a14099817444e62ad6b536ac2c8239774dab9dabaf50a3f05",
      "bytes": 377
    },
    "model/assets/sole_right.stl": {
      "sha256": "3f5068872f3add10eb967327651445bdfca635f5a8a01befa0ef05e462b72b4c",
      "bytes": 795184
    },
    "model/assets/speaker.part": {
      "sha256": "9850f9fcdb8f3138f976ac822a0e2774439623345f131056c7d7ec98d3078592",
      "bytes": 373
    },
    "model/assets/speaker.stl": {
      "sha256": "75a35f9bcf94cd8e52f99b3fd6ae667b48f52503f9075ee2f699eebe8e7b3ddf",
      "bytes": 684
    },
    "model/assets/tire.part": {
      "sha256": "4efa94edfa0848c7eaada2624404f9b202467b6c646d1d8688fb511a4d8f878e",
      "bytes": 422
    },
    "model/assets/tire.stl": {
      "sha256": "8aa460566e99afcccccd5c0507c883d3f6d1901e28ddd492cf0c7edc41067b54",
      "bytes": 352884
    },
    "model/assets/top_head_shell.part": {
      "sha256": "47b4394f5cc1fdc36861fe916be8a11aa3049760d4e563120588cc6cf3ab6cd6",
      "bytes": 380
    },
    "model/assets/top_head_shell.stl": {
      "sha256": "6d01f396f514c9d2185cf6b8250b1d8382ac3fa0702eb525bcb284f706196291",
      "bytes": 806084
    },
    "model/assets/trunk_base.part": {
      "sha256": "3b459735741f8e0a9fab171ecd744c607999322228d045e6623282aa9eed3e9f",
      "bytes": 377
    },
    "model/assets/trunk_base.stl": {
      "sha256": "aa4f853ae555a8b765e585ce4519c0bbff325ce298ec15a1437792c52a0beac1",
      "bytes": 184984
    },
    "model/assets/upper_leg_left.part": {
      "sha256": "61414442f6766fd7aaadd64d29e37c74d4f19de6d7e93153c43559382d24f497",
      "bytes": 381
    },
    "model/assets/upper_leg_left.stl": {
      "sha256": "8cb1c12dfa6d366a318bb1ec16f585427b9a185afeb7738d0a6f41f5db46a07d",
      "bytes": 612584
    },
    "model/assets/upper_leg_right.part": {
      "sha256": "33ae62db8087c1c15213fcde56329240d0bd9b70c9919a085ba8705815037383",
      "bytes": 382
    },
    "model/assets/upper_leg_right.stl": {
      "sha256": "5caf996cc3e151b01f393cdc6a6a6a940c1d86179d8b7c7f5f85cf1f1ac2fb63",
      "bytes": 612584
    },
    "model/assets/upper_leg_rigidity_plate.part": {
      "sha256": "9abdfc1874da369ed5953a32e8481242929da69b96461e6f42242288a5baa2e8",
      "bytes": 391
    },
    "model/assets/upper_leg_rigidity_plate.stl": {
      "sha256": "231b3e5f1e24d146d735dc158cbcfec0c95a0d0ca8c500f61f04d15d0b665652",
      "bytes": 180084
    },
    "model/assets/xl330.part": {
      "sha256": "e611f8ad4068acadd8ef0ababd355bb8597becb7eddd1ba206df6bbd539624fd",
      "bytes": 372
    },
    "model/assets/xl330.stl": {
      "sha256": "96238ed0d020ce0009cf1a5aa4b6926176c800840318ee65e4375be2298d2744",
      "bytes": 206384
    },
    "model/assets/yaw2roll.part": {
      "sha256": "bc0bd3f0c6551bf5eb35acc14b69fce0bbc0d335bf83026b18609f2c0c570d1b",
      "bytes": 374
    },
    "model/assets/yaw2roll.stl": {
      "sha256": "6c8f193ec7cb40be0f48eeb5fba81bce2c87f12e1aab3f77f1bc4981386e1495",
      "bytes": 620284
    },
    "model/assets/yaw_roll_motion.part": {
      "sha256": "4189857fe1b3b8565b2654c3f7294f642ddf20732aad0f25dd93977ab7ffe277",
      "bytes": 382
    },
    "model/assets/yaw_roll_motion.stl": {
      "sha256": "b0c9902dee19f06cdb7fa930292e0e1c91e2dc59baa971211495b58ff76c3c60",
      "bytes": 290784
    },
    "model/ball.xml": {
      "sha256": "54a455bf454a9b6167655381df91593bbca86695d8d71e29fb6af69454c7c865",
      "bytes": 706
    },
    "model/captured-scene.xml": {
      "sha256": "0cbe252de99f19b7eb7d5a12ac273fbcf400995ab6ccc4386ade742cc56c5200",
      "bytes": 2481
    },
    "model/config_mjcf_allcollisions.json": {
      "sha256": "a557bb21f6e38389450d448a02eb1b13ab7a679179e17e283d1fe79988ac9d9b",
      "bytes": 1496
    },
    "model/config_mjcf_groundcontact.json": {
      "sha256": "6e9d1efffa574f2f09ba40ae63e236d7bd8b7900b9d65c78231751d72b22f962",
      "bytes": 2006
    },
    "model/config_mjcf_groundcontact_backlash.json": {
      "sha256": "fd6e89d562d0ca92cb1e789ed273d14ceecbd95198c79da3ca2690e8e62ab204",
      "bytes": 2141
    },
    "model/config_mjcf_groundcontact_rollers.json": {
      "sha256": "7b3d837a2b15b92ff02a53cce3936f6b6871ef4cbf823c2b386be8cad4eae7af",
      "bytes": 2092
    },
    "model/config_mjcf_groundcontact_rollers_backlash.json": {
      "sha256": "9af2931a67955be82e76a2ee2fb9ca554c3e8cf87f964b2b770e1389c10382ff",
      "bytes": 2235
    },
    "model/config_mjcf_walk.json": {
      "sha256": "31fdf5bd061170fb41729b3a82a7780e772121ec566625c5a6bf849b890b31f9",
      "bytes": 1814
    },
    "model/config_mjcf_walk_backlash.json": {
      "sha256": "1f662b54138c30b135a451e1765da34045b6330bcb7c573d2719c51ef5f564a0",
      "bytes": 1974
    },
    "model/joints_properties.xml": {
      "sha256": "6a4481a9279ffd92139479e67515df7b3510799ceb648c18fde0d58c300eae86",
      "bytes": 1780
    },
    "model/robot_allcollisions.xml": {
      "sha256": "ec9d2f731596cfc847a7fc3898ef8b5e67a548928abc23216537f1da8af2729c",
      "bytes": 43020
    },
    "model/robot_groundcontact.xml": {
      "sha256": "99d23867e46e9d4748ff1398016b850f09fb6cf02a558c0272743b39ce3acf15",
      "bytes": 32904
    },
    "model/robot_groundcontact_backlash.xml": {
      "sha256": "8ddae05f00d321945220c632cca13445287c94fdbc1654573142347a5ac87d59",
      "bytes": 34991
    },
    "model/robot_groundcontact_rollers.xml": {
      "sha256": "e410e74978511fa2efdc9dcbe1488964c0c149ecca568a59dc73ef7f8844bf8b",
      "bytes": 35693
    },
    "model/robot_groundcontact_rollers_backlash.xml": {
      "sha256": "400fe547140354899774f72634a66fc446a96ab317e894c2a6fac5aa706a9967",
      "bytes": 37780
    },
    "model/robot_walk.xml": {
      "sha256": "80fc4424ed71e430ec4919110dfdb5c714dc1c4e1138e1832a16865cf31eb8c8",
      "bytes": 32023
    },
    "model/robot_walk_backlash.xml": {
      "sha256": "8c2f271948cf06a3c5720c48abaac35b909c53fcfc6f5c3d2cef15f732da74e9",
      "bytes": 34110
    },
    "model/scene.xml": {
      "sha256": "9a85461121ba8273083c482c166f27e143ca386993b3ec8f8d97eb09aa257d31",
      "bytes": 2350
    },
    "model/scene_allcollisions.xml": {
      "sha256": "0d2f58227a3e1c4caae4e847a368ae83516d0f398f428c4e96737b67dd894ef1",
      "bytes": 2350
    },
    "model/scene_apartment.xml": {
      "sha256": "f89da842d8972db257cb9a1a7c1804e21e1d0c01cc3388d6de6ac6fa1060f6e2",
      "bytes": 2457
    },
    "model/scene_backlash.xml": {
      "sha256": "2e8abed8258c0299859ca5403e44013da241f494065ed5bf184302923bd03c7d",
      "bytes": 2570
    },
    "model/scene_ball.xml": {
      "sha256": "3a6e69457fe68af692823c46da9e081021e3bf4be6c5381018446762acd20265",
      "bytes": 1238
    },
    "model/scene_rollers.xml": {
      "sha256": "9029044d5b605882c7f10b52b9bf90c9d5572fb25d79033d0d04026a269375ac",
      "bytes": 2439
    },
    "model/scene_vslam.xml": {
      "sha256": "61135069f454d36bf10761a5cb864904c8ad88c68a16965da70d362716aefa93",
      "bytes": 2458
    },
    "model/scene_walk.xml": {
      "sha256": "6e23146c1a5025473b55ec94cbe37b08104ca388b7eb005ea277f8230736c8be",
      "bytes": 2341
    },
    "model/scene_walk_backlash.xml": {
      "sha256": "bf71c93e90f5a70890f6f76f79f8ba25191cf7ef0a8de47b1dd24f629449150b",
      "bytes": 2562
    },
    "model/sensors.xml": {
      "sha256": "47854a0ab18261f069553e1572e0c329c4f39e4557dbdada71e0dc62af14ee20",
      "bytes": 357
    },
    "model/vslam_room.xml": {
      "sha256": "f0956410dbfc4d966688c663bf60758a61c1af179f5421886ebf88e0ac30658a",
      "bytes": 4181
    },
    "model-source-check.json": {
      "sha256": "f14f3ff15c3244c555c000bb25de9580bf2abd0d529bfc3840fca5ba0b1a5d50",
      "bytes": 17182
    },
    "plan.json": {
      "sha256": "4ac750882d942699901e865ad13716b4bfff117f2756ae0de3a39f5bc1625d26",
      "bytes": 2090
    },
    "preflight.json": {
      "sha256": "1a00d10b2849f6a044bc07c275fd9122b1ae58947cef9d1a195cd1fe4ad7e3e0",
      "bytes": 1362
    },
    "recorder/robot_reel/microduck.py": {
      "sha256": "d4c10970bec825c5a8024626fc8e550752a73322707d485c4e4482f2f5f09983",
      "bytes": 10694
    },
    "recorder/robot_reel/scene_motion.py": {
      "sha256": "571a7b3a57c9f817a8905ad7828b64edec935b4f66d1f2f5d56405e44fed5cf3",
      "bytes": 7143
    },
    "recorder/scripts/record_scene_motion.py": {
      "sha256": "77efafd8cc4b587d91f8ea43a0a909c48e8bab0d6cb9abf330ce4daa45b566f1",
      "bytes": 17784
    },
    "simulation.mp4": {
      "sha256": "a5a27a4303aade01ae08ec1c1619ad20e527eba9d7d7083e5de7914aee523e97",
      "bytes": 294387
    }
  },
  "scope": "Fresh simulation on a captured-scene heightfield approximation; no real-hardware result."
}
