{
 "source": "recorded simulation: mujoco_playground G1JoystickFlatTerrain, policy condition A seed 0, evaluation environment 7 (eval seed 12345); same environment for every surface",
 "dt": 0.02,
 "body_weight_N": 327.07660302000005,
 "nbody": 31,
 "bodies": [
  "world",
  "pelvis",
  "left_hip_pitch_link",
  "left_hip_roll_link",
  "left_hip_yaw_link",
  "left_knee_link",
  "left_ankle_pitch_link",
  "left_ankle_roll_link",
  "right_hip_pitch_link",
  "right_hip_roll_link",
  "right_hip_yaw_link",
  "right_knee_link",
  "right_ankle_pitch_link",
  "right_ankle_roll_link",
  "waist_yaw_link",
  "waist_roll_link",
  "torso_link",
  "left_shoulder_pitch_link",
  "left_shoulder_roll_link",
  "left_shoulder_yaw_link",
  "left_elbow_link",
  "left_wrist_roll_link",
  "left_wrist_pitch_link",
  "left_wrist_yaw_link",
  "right_shoulder_pitch_link",
  "right_shoulder_roll_link",
  "right_shoulder_yaw_link",
  "right_elbow_link",
  "right_wrist_roll_link",
  "right_wrist_pitch_link",
  "right_wrist_yaw_link"
 ],
 "pelvis": 1,
 "stride": 231,
 "scales": {
  "pos": 2000,
  "quat": 32767,
  "force": 10
 },
 "order": [
  "desert",
  "rain",
  "ice",
  "incline"
 ],
 "recordings": {
  "desert": {
   "file": "rollout_desert.bin",
   "mu": 1.0,
   "tilt_deg": 0.0,
   "label": "desert",
   "dressing": "sun-baked hardpan, cracked dry lakebed",
   "loop": true,
   "frames": 302,
   "seconds": 6.04,
   "env": 7,
   "command_mps": [
    0.91,
    -0.103,
    0.009
   ],
   "heading_deg": 0.0,
   "alive_steps": 500,
   "fell": false,
   "peak_load_bw": 1.538,
   "peak_shear_bw": 0.456,
   "bytes": 139524
  },
  "rain": {
   "file": "rollout_rain.bin",
   "mu": 0.4,
   "tilt_deg": 0.0,
   "label": "rain",
   "dressing": "rain on wet asphalt",
   "loop": true,
   "frames": 300,
   "seconds": 6.0,
   "env": 7,
   "command_mps": [
    0.91,
    -0.103,
    0.009
   ],
   "heading_deg": -63.0,
   "alive_steps": 500,
   "fell": false,
   "peak_load_bw": 2.882,
   "peak_shear_bw": 0.339,
   "bytes": 138600
  },
  "ice": {
   "file": "rollout_ice.bin",
   "mu": 0.25,
   "tilt_deg": 0.0,
   "label": "ice",
   "dressing": "frozen lake, overcast",
   "loop": true,
   "frames": 300,
   "seconds": 6.0,
   "env": 7,
   "command_mps": [
    0.91,
    -0.103,
    0.009
   ],
   "heading_deg": 0.0,
   "alive_steps": 500,
   "fell": false,
   "peak_load_bw": 4.405,
   "peak_shear_bw": 0.296,
   "bytes": 138600
  },
  "incline": {
   "file": "rollout_incline.bin",
   "mu": 1.0,
   "tilt_deg": 10.0,
   "label": "incline",
   "dressing": "mountain plane, tilted for real",
   "loop": true,
   "frames": 300,
   "seconds": 6.0,
   "env": 7,
   "command_mps": [
    0.91,
    -0.103,
    0.009
   ],
   "heading_deg": -63.0,
   "alive_steps": 500,
   "fell": false,
   "peak_load_bw": 2.066,
   "peak_shear_bw": 0.501,
   "bytes": 138600
  },
  "fall": {
   "file": "rollout_fall.bin",
   "mu": 0.25,
   "tilt_deg": 0.0,
   "label": "fall",
   "dressing": "a recorded fall at low friction, played once",
   "loop": false,
   "frames": 170,
   "seconds": 3.4,
   "env": 19,
   "command_mps": [
    0.992,
    -0.187,
    0.231
   ],
   "heading_deg": -113.7,
   "alive_steps": 342,
   "fell": true,
   "peak_load_bw": 14.258,
   "peak_shear_bw": 2.342,
   "bytes": 78540
  }
 }
}