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{
  "schema_version": "1.0",
  "duration_seconds": 38.91891891891892,
  "control_hz": 50,
  "physics_hz": 200,
  "frames": 1946,
  "root_pose_writes_after_reset": 0,
  "diagnostics": {
    "physics_timestep_seconds": 0.005,
    "control_hz": 50,
    "duration_seconds": 38.91891891891892,
    "root_pose_writes_after_reset": 0,
    "shared_policy_actions": false,
    "minimum_trunk_z_m": [
      0.10520585096953033
    ],
    "fallen_ducks": [],
    "foot_strikes_per_duck": [
      82
    ],
    "minimum_foot_strikes": 82,
    "foot_liftoffs_per_duck": [
      80
    ],
    "minimum_foot_liftoffs": 80,
    "airborne_fraction_per_duck": [
      0.0
    ],
    "maximum_airborne_fraction": 0.0,
    "net_displacement_m": [
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    ],
    "mean_net_displacement_m": 1.091801550807374,
    "yaw_change_radians": [
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    ],
    "mean_yaw_change_radians": -1.6667073965382764,
    "yaw_change_spread_radians": 0.0,
    "minimum_pairwise_separation_m": Infinity,
    "inter_duck_contact_count": 0,
    "inter_duck_contact_frames": 0,
    "maximum_excursion_m": [
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    ],
    "minimum_maximum_excursion_m": 1.091801550807374,
    "maximum_abs_policy_action": 1.6959165334701538,
    "mean_abs_policy_action": 0.10487629449581053,
    "policy_control_steps": {
      "walk": 1860,
      "kick_left": 100,
      "kick_right": 61
    }
  },
  "files": {
    "npz": "duck_reference_50hz.npz",
    "jsonl": "duck_reference_50hz.jsonl"
  }
}